Is it a bad idea to ask a guy out?

If he has the same feelings as you do for him, then it shouldn't be a problem. If he shys away, he's not worth it- either be friends (if he wants to) abandon him completely. Some guys aren't worth it. I'm in this same situation, but I'm happy with the way things are... we're 'dating'... not really, going to the library and such... but it's perfectly fine the way it is.