The pause module actually does exactly that. But it does not give you an option to answer yes or no. Instead it expects the user to press Ctrl+C and then a for abort. To continue the user simply needs to press Enter.
Since this is not perfectly obvious to the user you can describe it in the prompt parameter.
- name: Exterminate mankind
pause:
prompt: Please confirm you want to exterminate mankind! Press return to continue. Press Ctrl+c and then "a" to abort