Sex for the first time?

So me and my boyfriend have been together for 4 months now and we are both virgins but no where near innocent. A lot of the time when we find ourselves alone we start making out and it always escalates to a hand job/blow job he eats me out and/or fingers me and plays with my boobs but how do I fully initiate going all the way? I know an obvious answer would he to just talk to him but I am absolutely horrible at talking about stuff like that. Are there maybe any other ways anyone can suggest on letting him know I wanna go all the way? And another question, what condoms are better ones to use?