SHOULD I ASK THIS GUY FOR SEX?

I’ll try to keep this short.

So the guy that I’ve been hanging out with, I’ve slept over a few times in his bed with him nothing happened tho. But the last time I slept over he started spooning me and I could feel his boner, we where both pretty tired well I definitely was idk about him, but that only lasted a few minutes then he turned over and ig went to sleep.

Now since then he hasn’t messaged me, that was last week, now I low key wanted to have sex with him should I just straight up ask him to or would that seem weird?