Looking for insight into a specific scenario.

I am lacking in one specific area and that is "making a move" in regard to physical activity. It annoys me to no end because I have no issues getting dates or interacting with women. I miss more opportunities than i'd like because I am for some reason very uncomfortable initiating sex or anything leading up to that. If she is more aggressive it's easier for me but when its a woman who wants to be led its up in the air.

A typical scenario is us coming back to my place after a date, sipping some drinks on the couch with the tv on in the background, and having nice convo.. then it goes past that point where we're both (internally) like "ok this was a great conversation but why are we just sitting here". Women want sex just as much as we do and I know this but for some reason I freeze up on how to go about this smh.

What are some good ways to move things forward for a shy guy?