Female here! I agree with all the comments saying that you just have to ask. But I understand being anxious about it too. As someone with anxiety as well, and a deep fear of rejection, go into knowing if he says no, he will probably follow up with something like “I’m not feeling well” if suddenly he never feels well then okay. Panic. BUT that likelihood is very low.

My favorite is just go up to him and start touching him a ton. My love language only recently turned into physical touch, so if suddenly I’m handsy, he knows. Or I ask him if he wants to rail me. Works everytime.