He is probably shy and afraid to ask you out in front of your friends in case it's a set up and boys hate to be embarassed in front of others especially in front of girls. You should definitely not ignore him as he'll surely think you're not interested then. I would suggest that you either try and get him alone and chat to him, which would give him the chance to ask you out without others watching, or you ask him out. Either way keep talking to him and do not ignore him. Boys don't understand girls ignoring them. It will drive him away.
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