Walk up to her and say, "Hey, I think you're cute. I'd like to get to know you sometime. Would you like to go out with me?" Have a plan in advance for if she says yes. If she says know, accept it and move on. If you're not confident, pretend like you are.
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If you think you like her, establish your relationship as a romantic one. Don't try the "friends first" route if you think you like her romantically, because that hurts WAY more than just getting turned down at the start.
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Not if I was interested in her. It would be pretty great if that were the case. Plus it's not like your asking for marriage, it's a date. You can have a date without committing your life to someone. If it goes well, ask her out again. If not, you learned something more about her and you might not be as compatible as you had imagined.
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If she says yes to the date, she's at least interested. Listen, she might not be into you. She also might be crazy for you and think you're awesome. But you've got to talk to her if you're ever going to know, right?