Oh wow~ This is such a cute story.

I felt like this with my boyfriend before we were together! I was longing for a hug, a smile, anything! The night he invited me to sleep over at his house ( Alot of other people were sleeping over so I didnt know if it was a sign he liked me or not) he let me sleep on his bed, as I already had passed out there, and he slept on the floor. When I woke up, I wanted so badly to lay down next to him, cuddle him while he was asleep, and maybe go back to sleep before he woke up. Unfortunately, I was too shy.

The next time he invited me over, I laid down on his bed again, and he looked at me and rested next to me. Thankfully, we kept flirting at this moment. He stole all the pillows for himself, so slowly I forced myself to rest my head by his shoulder.

...I felt like I was about to scream, when he suddenly wrapped his arms around me. I didnt think he even liked me at all.
The next time, after a cute date at IKEA where I simply could not bring myself to make eye contact with him as I knew I would blush uncontrollably, we tried to sleep again. He had me in his arms, and after 30 minutes of trying to build up the courage inside of me, I reached up to kiss him on the cheek.

Long story short, he asked me out that night. :3

ANYWAYS. GO FOR IT.

Im sure that if you two really are as good friends as it seems, he wont stop talking to you even if you're rejected. Try to look for excuses like.. Your hands are cold or you thought you were about to fall. Make up something silly but try and make the move yourself.