Not exactly the same, but my boyfriend and I work different shifts, and therefore sleep different hours. Every now and then when he comes home from work, he won't wake me up, but he'll sneak into bed really quietly, slip some rope cuffs around my hands and start playing with me til I wake up and inevitably beg him to fuck me.

It's nice, and it's not something he does all the times so it always has that element of surprise for me. Maybe start small with something like that and think up ways to evolve it from there?

Perhaps if you plan out HOW you would like it to be acted out, then kind of forget about it for a while and let him be the one to initiate the plan when you're not expecting it?

Just some suggestions - good luck!