Yes, it is as simple as saying "hi." Make small talk. Compliment her.
"Hi. I couldn't help but notice your..."
"Nice hair/dress/outfit/shoes/etc..." (Whatever it is that you notice about her)
Or simply: "Hi, my name is..."
If you can't come up with anything to compliment her on, make small talk. Something as simple as "Boy, I love this weather" or "The food is really good here." Sometimes the simplest of comments can lead to a good conversation. When you realize that things are going well (she is looking at you, continually engaging you in conversation), then you can pull out the "I really liked talking to you. Do you think maybe we could go out some time?" or "Let me give you my number and we can continue this conversation some other time." (that last one would work especially well if one of you is having to leave.)
So yes, it really is that simple. Women aren't as complicated as you're making them out to be. You said you had male friends, right? How did that happen? You two struck up conversation, you at some point shared a common interest, right? Well it works the same way with women.
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"I got to keep you on your toes. When you think I'll zig, I'll zag. Then when you think I'm gonna zag, I do zag, just to mess you up for the next time, when I might zig" - Lorelai Gilmore