I am a 24M living alone, I've only had 1 girlfriend in the past who was the only girl who also slept with me. I'd say I have a decent sense of humor and i can always make chicks laugh but I am incredibly shy to venture anywhere beyond that or make the conversation even remotely sexual, i always fear that 'Oh no, these girls think I'm such a decent guy and i don't wanna ruin my image by being perceived as a creep'

Now, a lot of times i have female friends over and sometimes they end up sleeping at my place just the two of us, while sleeping they sleep really close to me and also face me but I'm just so damn shy to initiate touch or even hold their hand. I'm not suggesting that if they sleep over or Face me I'm entitled to sex but its not even about sex, i just want to cuddle with them.

What's the best way to go around this? Should I ask them that i want to hug you or hold your hand or should I just directly initiate touch? I honestly feel like a moron when they're beside me all night and i can't even do something as simple as hug them.