Lou, here is my take on it (also considering some male input here that supports my thoughts, LOL.) I think the guy is interested in you, no doubt. In the last few years I learnt that even if you state explicitly that you are only interested in a friendship, the guys will still have a hope that it could turn into more… At least this was my experience .
I would totally go on the walk and keep it friendly. You can always state your boundaries if you feel that the line is getting crossed… It sounds like your coworker is a nice guy, so he will understand. Who knows what this could develop into. You could have a new good friend. Or… it could be more than that over time, you never khow. You have nothing to lose, Lou, go for it!
M:50 H:52 S28 (my S from previous marriage) M:17 + 3 BD: 06/12 S: 06/12 - H works in another state