Impossible to say for sure without a heck of a lot more context. Just because he let you keep a shirt alone is not enough to say definitively he likes you. Neither is staring at you.
There would (or should) be some other signs of flirting than just staring. Maybe you can give some more context. You can make an update to the question using the update box if you have more info that might let users make a more definitive opinion.
With only the info you give, I wouldn’t want to give you false hope because I don’t see enough there to say yes 100%.
Do you talk to the guy a lot? That would be a good place to start looking for indicators he is trying to flirt or show interest. Everyone flirts differently but there should be some signs somewhere.
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He’s waiting for you to wash it and return over drinks OR follow suit and do something nice for him too. Kind act begets a kind act which starts the dating process…
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Why don't you TALK to him and find out?
Yes, he is interested if he's staring
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