How to ask someone to hang out for the first time?

Today was my last day of school yay, well for the summer anyway and I have actually made a friend :O after like years lol and it feels like its now over :/ I have hanged out with him but its always kind of been with him and him friends and I come of boring becuase I cant be in groups I pretty much say about 3 words and thats it :/
But I really want to just ask him to do something next week and I can't :'( I have tried but when the time comes I cant, I just feel like he will say yes becuase he wants to be nice or it will be boring and I will waste his time or I won't say enough ahhhh!!! this sucks
I have some friends before I got totally socialy awkward but I can actaully talk to this guy not as much as my other friends but thats huge for me since I literally CANT talk to anyone without like having a panic attack or having nothing interesting to say so I just want to make this friendship kinda work I guess but I am just so scared and making all this crap in my head about what he will think and I just cant do it
Any advice :/

only thing that comes to mind is to text or use something like facebook or msn to ask him
...if thats out of the question try posting a letter through his door if you know where he lives. other then that the only other ways i can think of are phone call or knocking at his house.

dont see to much into it tho, if you think about it to much it makes it worse just dive into it and hope for the best.
ask to go town, cinema or just hang out somewhere...something simple and casual

I saw this tonight, and thought I should share this with you.

'Do you want to hang out sometime?' ???
(of course the one time i used that line, it failed completely .. perhaps i said it wrong??)

This is one of those situations where you have to take a risk and just ask him. Give him your number or something small like that. Put the ball in his court.

"Hey, would you like to hang out one of these days? Let's go to the cinema/cafeteria/walk in the park/-insert place of your preference here- or something"

That's what I'd do.

"I'm thinking of robbing a bank for a bit of extra dough, and I could use a getaway driver. You keen? Maybe afterwards we could grab a cup of coffee and chat about what we're gonna spend the money on".

j/k. Seriously though, just ask them if they wanna get a coffee some time, or maybe go for a walk somewhere. Maybe a coffee isn't such a good idea, I tried that once and I just clammed up. She said something like "It's kinda hard having a one-sided conversation". So I asked her if she wanted a lift home and she said she'd take the bus. So I just walked away. I felt bloody horrible after that.

So ask them if they wanna have a game of tennis or squash or something similar. You know something where you're not just sitting across from them and being all silent. That could actually work.