How to ask how he feels about me?

I have worked with a guy for years now, (actually his Mom is also my/our manager), and I've had a crush on him forever! His mom and I are super close and friendly and she's totally on board for me and him being together but she doesn't want to get involved in the whole situation. I have no idea if he likes me/is attracted to me, and therefore no idea if I should even broach the idea of asking him out. The extent of our conversations consist of saying hello, goodbye and asking him to grab me something from the stockroom. I know he's a quiet/shy sort of guy, or at least that's what his mom tells me and what I've witnessed, but he's pretty funny/talkative with everyone else. What are some things I can do/say to see if he likes me or just has nothing to say to me? I'm not sure whether to take his quietness as a sign that he likes me or just doesn't want to talk to me. Please help!