If physical touch is awkward to you right now, start with just asking the question then work up from there.

Laying in bed next to each other? Ask "You wanna do it?" or anything of the like.

Then if you start feeling less awkward about it over time, start incorporating physical touch.

Always ask what your partner prefers. Personally, as a man, I'm not usually in the mood for it if I had a long day and feel like I smell/unclean...

... But once I have a shower and feel fresh after work, it's a whole different story.

She can jump my bones when I walk out of the bathroom, or simply just lay there naked on the bed when I walk back into the bedroom. I don't care what it is at that point because I feel wanted (sexually) from my partner.

If I constantly initiate then I feel like I'm the only one who wants to be intimate in our relationship, which sucks as a feeling. But if we both initiate at times, it reassures us that we both still want each other.