It's incredible just how vain women can be. They won't ask to go out with a guy because they don't want him to think that she's only interested in sex. Of course, this infers that she knows that's exactly what the guy will think, not that he'll just be glad to go out on a date. Naturally, all guys must only want you for sex because you're all soooo irresistible. In my experience, nearly all women are physically attractive and desirable in some way, but their personalities? ****ing repellent.
Anyways, my rant aside...
Lynda, try this: Send him a text saying: "Got any plans this weekend?". He'll reply with some waffle about "maybe" or "not much". Then reply back and ask him if he'd like to go out to dinner with you. Real simple. The way you've described him, I'd offer 80% probability that he'd be totally bowled over and says yes. 10% against if he's a wuss, 10% against if he really is unavailable for some reason that weekend. In both cases against, your ego and vanity will remain intact so no need to worry about embarrassment ;-)