I guess it depends. I would ask directly for things like "going out", which although it means kissing and sex is actually a euphemism.
In the past, when I have been more direct I have turned men off and given a wrong impression.
I do like discussing what's fine and what isn't once a relationship has started.
However, if I'm going to kiss someone, I'm of the opinion that asking is unromantic. It's absolutely possible to just slowly lean towards the person, go half the way and wait for them to go the other half. If they don't, then it's a no. If they do, they consent.
Same thing with sex, you can start with snuggling and then get friskier, or get up and start undressing and then wait, and see if they ask you to keep unbuttoning that shirt or to button it back up.
You can ask for consent without being so in-your-face and to the point.
My ex would ask if I wanted to have sex. We'd be in the middle of foreplay and suddenly he interrupt it to ask. The answer was always no, because simply by asking, he had just shot down my libido completely, and I couldn't have wanted him less.
So yes, I do think asking in too much detail can be a problem and kill the mood. However I think it's good to know what you want and be confident about it. Just don't ask with words whenever there is another option. Sometimes it's the only way, though, and these times I try to use euphemism because I'm simply more comfortable with them.