How do I ask out a guy?

I know this sounds absolutely goofy, but hear me out. I'm 33 and have only recently come to terms with the fact that I'm autistic. I don't know how to read people at all, I have terrible social skills, and because of all of this I've never really dated anyone in person (and the long distance ones never lasted long either.) However, I'm currently crushing HARD on a coworker. He's older than me but he's single and good lord he's gorgeous. I've talked to him a handful of times and we have a ton of stuff in common. Like, an unreal amount. But I have no idea if he's at all interested in me or even into dating in general. I want to ask him out so bad but I have no idea how to go about it without it being awkward. It's so hard for me to even get the courage to chat with him, let alone ask him out! I need help!