[A1] I asked him about the concert.
[A2] I asked the waiter for the menu.
no, I would not.
In principle, for there to be an indirect object, there must be some element that can be reckoned a direct object. In neither case can one be found, both 'concert' and 'menu' being simply internal objects of prepositional phrases.
In the case of
[B1] I asked him a question.
however, there are clear grounds for reckoning 'question' to be the D.O., and thus 'him' to be the I.O.
The slight problem with this analysis is that the reconstituted 'full' form of the above is
[B1a] I asked a question OF him.
and there is no precedent in English grammar for a genitive phrase to be considered the putative origin of an indirect object!
However, that (possibly) minor quibble aside, we can rationalize the two different sets of grammatical relations realized respectively by the sets [A] (D.O. construction) and [B] (I.O. construction) in simple semantic terms: in type [A], 'ask' means 'direct an enquiry/request to (smb.)', while in [B] it means simply 'direct (a question, enquiry)'.