I've had sex with two people. The first being my ex whom we already had a close connection with together. We'd talked about sex months prior. The second person was from a hookup years later. We were hanging out at her place after drinking and partying on Halloween night. We were laying in her bed and I just asked her "do you want to have sex?"

Im afraid asking that question won't work every time. I am on the autism spectrum, so it's really hard to read ques. I can't really even tell when a girl likes me and is trying to flirt with me either. I swear I've missed several hints from several different women. Idek.

How will I know? Should I always ask first or can that question alone put someone off? I'm afraid if I just go for a kiss they will get offended.