Well, I would look for signs/ hints that the other person likes me. If there are chances that he might like me, I would ask for quality time with him( not calling it a date). It actually depends a lot on the other person. If he is understanding and chilled out, I would go ahead and ask him out. Even if he doesn't like me that way, he would appreciate it. If he is not that understanding and chances are that he will start staying away from me once I asked him out and he turns it down, I would take it real slow and develop a kind of understanding first that will help me be comfortable asking him out. But if you release your feelings and tell him, trust me, it would be a relief. And there might be a chance that you enter into a great relationship with him. :)
PS - You might just be overthinking. If you don't think so, try and find out about his/her feelings towards you. Good luck. :)
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