Initiating sex

I know this is a weird one but - my boyfriend and I are 17, both virgins but recently had the talk about being ready to have sex (not sober). And we both know we are both ready except we are both too awkward to initiate it because he knows my last boyfriend was pushy about sex and I just feel awkward saying "hey do you want to have sex??" Because its both our first times we don't have much experience on the initiating front. Does anybody have suggestions as to how I could bring it up or hint around it?