Whenever I've ask my T a similar question (i.e. "Do you like me", "Do you care about me", "Can I have a hug?", "Do you love me?", "Do I love you?", "When is your birthday?", "What's your daughter's name?"), she ALWAYS asks me: "Why do you want to know that? How will an answer be beneficial to you?"

Her question, though frustrating, helps. It helps me understand myself. So I think not only should you ask (if that's what you really want), but you should discuss everything that you wrote in your post: why you think a hug would help you, what you are currently experiencing/feeling, etc.