He likes you. He wouldn't have asked to go on a date with you if he didn't. He didn't kiss you because he was nervous. From what I gather about this situation you're pretty outgoing and social, and he obviously is the opposite. I can tell from how you write.
You have to remember that this guy probably has not been with many girls. That is why he is shy. He doesn't have experience. He is afraid of rejection/failure. It looks like it's up to you to be the man here and take control because he certainly is not going to do it on his own. You have to make him feel super comfortable. Try to talk about things outside of the friendzone. That's where you want things to go isn't it? Make him relaxed. He is self-conscious about doing something and having you judge him. Assure him he doesn't have to worry about that.
Best of luck, cheers
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