I did exactly that this saturday.
Last year, I had a crush on THE MOST HOT GIRL EVER...(She really is hot, but I'm obviously biased, still, for me, she beats anybody), Kindest, wittiest, most energizing, etc inlovebabble.
She and I became friends, but I kept my mad crush separate from how I socialized with her. I told her once or twice, and she, very NT-ly asked me out a few times, but our approaches led to a kind of stalemate, both of us feeling....unsure of how to proceed. So we didn't.
Didn't see her for almost a year, once a month bumping into eachother, etc, and, knowing where she works, I walked up to her this caturday and told her I was looking for someone to teach me how to "go out"...And if her offer to help me still stood.
Lowe and behold, she accepted, with shiny eyes, and we're gonna meet up ASAP. I really DO need help learning to date, but she's gonna teach me how to date HER.

THE MORAL OF THE STORY is: That girl fancies you. 100% sure.
Thing is...You need to ask her out the NT way. However you wanna do it, say what you mean, with love. And it'll be not only fine, it'll be GREAT!
I'm happy for you.