I don't know how to bring it up

I met this guy he's super chill we've joked about sex but we aren't dating. But the other day we went out for dinner and honestly I was so physically attracted to him. I just want to lean over and kiss him! But I don't want to scare him off. I think he's a cool guy but I want to get in his pants like now. Don't call me a slut or shame me. He's the first guy I've felt sexually attracted to. How do I suggest sex? I mean I've been to his house a bunch of times. I've even slept in his bed with him but we were clothed and not having sex but yeah. I wanna go further. Help