When I want to have sex with my boyfriend i get too nervous to initiate it.

I'm 22, I have a 10 month old daughter.

I am not inexperienced at all but with my ex (we were together for three years) we just said "wanna have sex?" And took off our clothes and bam. There was zero love or respect with my ex.

But with my new boyfriend (weve been together 8 months) we make out and help each other take off our clothes. But i never really know if he wants to have sex til hes taking off my clothes. Hes super respectful so it makes it feel wrong to just ask "can we have sex". I have a few times though but last time i said "we should have sex once the baby goes down for her nap", and he said "well make it happen." And once she went to nap I had no idea how to 'make it happen' id try to kiss him but it was just quick kisses, so then I thought maybe he didnt want to? So I dont know.