if you have feelings for him then just say "i have feelings for you and i hope you are the same. if you are then maybe we can do something more serious or steady?"
if you don't then "you know, i haven't been seeing anyone, and neither have you, so since we work well together, what do you say about us seeing if there is anything more to it?"
if he panics, then just tell him it's fine either way, no pressure. I don't know if how you two hang out but you can do it before the sex so you two could forget about it by having fun, you can do it while you are drinking or someking or whatever else you think will fit.
if it turns out he already thought that you two were exclusive then that's great! just be (and act) happy, and say that you weren't sure and you are glad that you are.
you are not in your early 20s, now is the time to be direct, if he is about your age, he should be able to figure out what he wants and be able to be direct about it with you when you ask him.
good luck!
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Ask him how he would classify your interaction, Friends, friends with benefits, FWB+ heading toward?
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