Should I ask this guy out? Any advice?

There is this guy at work who is showing some signs of interest (flirs, teases me, random touches, catched him staring at me multiple times, notices changes in my apprance, did favors for me). Even though he is a direct communicator, he is an introverted and I feel maybe a little shy.

To give it more context, I rarely had crushes in my life and I don't fall for someone quickly. I am not flirty and I guess I don't give off interest signals very obvious. I was told a lot that I am unique girl both in terms of my appreance and intellectually. So, usually I just let guys pursue me. But, there is something different about this guy and I like him. I didn't notice his flirting until after a few months that he was persistent then I catched feelings. But, he does not make any further moves forward. I am thinking it is because of my closed communication style and he is probably not sure how I would feel if he asked me out.

Should I ask this guy out? Any advice?
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