Just try to get closer to her. Talk with her more. it may not seem like it now, but the more you're around someone, the more comfortable you get. When you feel alright about it try asking her out to a movie or something casual. You don't have to say "wanna go on a date?" Try starting the convo with a movie you know she likes and offering to take her to it.
If you're not comfortable with that you can try asking her out with some friends. The only draw back to that is if you eventually want to ask her out by herself she may assume that its an open invitation. That would be an akward situation lol
Good luck with whatever you decide, I hope that helped a little
"An it harm none, do what ye will."