You said that you don't want to talk to them about awkward stuff and that they probably know and are waiting for you to come out in your own time, so why the need to come out now? Just wait until you feel you are ready. If the reason is that your parents don't know the real you, just act like the real you and if they ask you then you will just have to face the awkward conversations (which is bound to happen).
My parents know I am gay, before I was worried they didn't know me at all. This hasn't changed and when I put this to them they got the wrong idea and started throwing stereotypes at me