Does my crush at work like me?

I have a crush on a guy that I work with. I think we have great chemistry. We have similar interests and we work well together. We’re both introverted but I would say I’m a bit more expressive and he’s more reserved with his feelings. Reasons why I think he could like me back include: he laughs at all my jokes (doesn’t smile otherwise), has called me cute on a couple occasions when he thought I was funny, he’s brought up multiple times that he doesn’t have a girlfriend, when we sit next to each other for team meetings our legs might touch but he doesn’t pull away, one day we were in a crowded room and he arrived late to the meeting and in order to get my attention and say hi he walked up to me and gently tapped me on the waist. Most recently, I was sick and had to go to the ER and he texted me multiple times to see how I was feeling and to tell me everything was going to be fine. Does this all mean he could be interested in me? Or he simply being a friendly coworker? My friend thinks I should ask him out, but If I’m having a one-sided crush I don’t want to make a fool of myself.

Does my crush at work like me?
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