How do I cultivate the friendship/get him to have sex with me?

On Saturday night, I was invited out to a party with a friend at another gay guy's house. I didn't know anyone there, and most of the other guys were at least 20 years older than me. But there was one guy that was around my age, and I struck up a conversation with him. He's so cool. We have the same taste in music, tv shows, etc. We both come from messed up families. And we both have had some bad luck with guys. So anyway ... we started talking, and talking, and talking ... we literally talked for 6 hours straight. Not only is he fun to talk to, he's gorgeous. He's actually a stripper. So at the end of the night, I drove him home (he doesn't drive), and we exchanged numbers. The next day, we texted each other a few times. He said he left something in my car and was wondering if I could check to see if it was there. I checked, and nothing was there. My friend said this was his way of trying to get to see me again. But anyway, I really liked him, and I'd love to culitivate a friendship with him ... and honestly, I'd REALLY love to turn it into something more. Sex with someone as hot as him would be so incredible. But at the same time, I don't wanna scare him off. Any advice would be greatly appreciated. I'm thinking about texting him tomorrow, just to ask how his week is going, and if it comes up, maybe ask him out for this coming weekend. Does this sound like a good idea?