Does he like me?

There is a guy that comes in where I work. We have gotten to know each other and tell each other lots of things about our lives. All the guys he works with tease me about him. He is always smiling and trying to make me laugh. The other day he walked in and put his arm around me and then half way through the conversation gave me a hug for no reason. I really want to go out with him. Should i ask him?