What are some safe signs from a man that he's comfortable with you approaching him? And how to approach?

Hello fellas!
I (23F) started a new job 2 months ago and met my coworker (let's call him Rob.
I unexpectedly developed a big crush on him. We have exchanged books and are occasionally talking about them. He comes to my table every morning to say good morning to me and visits me at least once a day, just to chit-chat.
Now, Rob is (31) which is a bit older than I am. He's a man that has his life together and knows, what he wants. When a co-worker of us, made the joke that Rob is still looking for a girlfriend that could cook for him, his eyes automatically went to me, which could be just because we always joke together.
I feel like we click, but I'm worried about misinterpreting all of those "signs", since he is an overall very friendly person and gets on well with everyone.
My two relationships beforehand were typical HS-aweetheart-relationships. I've never went on a Date with anyone that wasn't my best friend beforehand. I'm also in a position where if I've misinterpreted everything, we'd have to awkwardly face each other everyday.
I'd ask my male friends about things like that, but I don't really have male friends.
Edit 1: I didn't expect this post to blow up like it did. I hope I've answered everyone of you, if I missed one: Sorry!
You all gave great advise. Dating.mobi has two opinions on that: Just do it or Don't date co-workers.
I have decided for the just do it.
I'm extremely shy so for testing the waters before organising a got-together/date, I've sent him a cat video. I was struggling a bit (father's death) and Rob told me he would have sent me cat videos if he had my number. Thinking about it now, maybe he was giving me a clue. Since I had his number and saw a hilarious cat video a few hours ago on Dating.mobi, I decided to turn the tables and send him one. Long story short, he didn't answer. But he is not exactly the I-use-my-phone-guy, which I adore. Or maybe he is uncomfortable.
I don't know how this Forum Section deals with updates, so I'll message the mods and ask them if it's okay to update when I've finally done my move.
But seriously, Dating.mobi. I adore all of you. Thank you so much for helping me out and giving tips on how to proceed. I love you all. No ****.
Edit 2: He's answered. And he found it hilarious. It's a good sign, I guess? Time to go for it!
Edit 3: He can't even remember saying that he wanted to send cat videos. He did, though. So I'm pretty confused. Plus, as someone who can't form coherent sentences when put under social pressure, I don't even know what to answer. I wrote "Well, seems like me misunderstood each other, but cat videos won't do any harm." to which he basically said he's not a great fan of cats and considers some of the videos funny. I don't know what to answer to that but it seems to me like we either misunderstand each other through text (so I'll have to wait until I meet him tomorrow to see his reaction) or I really misinterpreted the signs. At least he has saved my number.


Source.