should I ask him out??

I've been friends with this guy since 4th grade and now we are in 8th. I've had a crush on him for years but I never told anyone that I liked him. In 7th grade my best friend told me she liked him but she didn't know my feelings. The next month she told me she was over him and a couple weeks ago I told her the truth. She told me that she still liked him, so basically she lied when she said she didn't like him. In this situation we said hoes before bros and forgot about it. Now he is starting to show signs that he's into me like touching my knee staring into my eyes, and sometimes I catch him staring at me. We've had so many food times together and I want to ask him out, but I don't want to hurt my best friend because we all hang out together. What should I do?