How can I talk to him?

So there's these two guys that I like, both are friends. One of them I just learned is married and the other one is single but he is quiet.

The one that is married, is a chill guy but he will get loud and will be a show off only when I'm around and his friends present. He's is the one who makes an effort to talk to me.

The quiet one which is the one I'm more into, I've never heard his voice a day in my life and he will stand by his friend when he sees us talking. He is so hot. It's like he's scared to be around me unless his friend is there. A few times I would walk by him and he would turn his head or his body away from me but I noticed when I talk to his friend he will approach us and be smiling the whole time. I feel like he likes me but he wants me to make the first move. I'm shy myself so I can't... help!!!
How can I talk to him?
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