Does he like me? Should I ask him out or wait?

So I have a guy friend that I like and I think he likes me but not sure.

He asked to kiss me but I said no because it was at a school sleep out then he was a bit weird with me.

I went on a date with another guy and I can't talk about it with him. He always has to be touching me. He always pokes or tickles me.

He always hugs me, plays with my hair and pays attention to me.

Today he sat on my lap multiple times for ages or would have his legs on my lap and earlier I was leaning in a corner and he came and leant back on me and there was full body contact.

He is always really respectful. He is always there if I'm upset.

Does he like me?

I have had multiple people ask if we were dating and say that they could see "something" between us.