Do I ask him to hangout?

For reference we both work together I’m F(20) and he’s M(21). He always goes out of his way to talk to me every time we work together, but he won’t come up to me if I’m around other guys. he doesn’t converse with anyone outside his department except for me. Others have also picked up on how different he acts with me.

I’ve liked him for about a while now and he only recently started talking to me a few months ago once I decided to talk to him( before it was mainly us making continuous eye contact)
Our convos mainly consist of friendly banter, and teasing me about stuff I bought up in previous conversations, and he always asks what I’ve been doing outside of work

I always catch him staring at me and looking at me while he’s talking to other people. I want to ask him to hangout outside of work but not sure if I’m overthinking our interactions or if he’s just being friendly . Any tips or advice?