I totally agree with the ice cream idea, perhaps its because I love ice cream! :P No really, if you truly like him, and see good qualities in him then there is no problem with casually meeting him.
Most importantly relax, act normal, you can go like, "I'm heading to the mall (or whatever) later with some friends, want to come by, it might be fun."
If you feel it is too early or you're too shy to ask him out, just walk up to him in the beginning of one of the classes you have together or after a class and say hi, ask him whether he likes the subject, anything. Once one of you breaks the ice all the awkwardness will fade away and you'll finally be clear of all the confusion.
See how it goes,
Bust of luck
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