Asking a guy to go out for breakfast?

I need to know how should I ask a guy if he wants to go to breakfast? what exactly do I say, I don't want to come off in a bad way. I don't know him to well, I have only talked a few words to him a couple of times and I am not sure if he is interested or not. Though I always look at him and I have seen him looking at me! How do I approach him and what do I say?
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anybody have suggestions? please help. and I am really shy so I want it to come out the right way. I have never done this before, I am so nervous and afraid he will say no. thanks
Asking a guy to go out for breakfast?
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