Sex life has never been good

I feel awful saying this. I love my husband. He's the funniest, sexiest, sweetest man I could ever ask for... But sex just has never been good. Me and my husband met when we were both 26 and he lost his virginity to me. My husband told me when we were dating that he was raped when he was 12 by a grown man and it turned him off from sex. So all through high school and college he never masturbated or had sex. My husband never seems to know what to do. He doesn't really get foreplay. He struggles to get hard and stay hard. He doesn't really even want foreplay done on himself but he doesn't see the point so he never really ask for BJ's. I haven't had an orgasm from sex in 3 years. I always have to use a vibrator. I asked my friend for advice and she told me I should just reach him. This may sound childish but I don't want to teach my own husband how to please me. He should be able to tell from my body if I'm comfortable or not. He should be ASKING me what I like. He has been married to me for 3 years and I know it would be easier to just "teach" him but I don't find that sexy. I want passion. I want him to explore my body and know what to do by my body language. I don't want to give him lessons.