Please share your experience with asking out girls and what you think is the best way to ask a girl out.
Most Helpful Guy
Arrange the situation so you're both engaged in the same task, and build a connection and relationship with her through that mutual activity. Find some interest of yours that a reasonable number of women are also interested in. Good options are dance, book clubs, social work & volunteering, some sort of art & music festival, or something like that. Bad options are car clubs, or other activities that tend to be 95% male. The goal here is to meet someone with a similar interest, in a safe and natural setting, where you can interact naturally. Another good way is to go through your friend network.
Do not just walk up to random women and ask them out out of the blue, especially on public transit or when she's trying to get somewhere. That can easily be interpreted as threatening or harassment.
But as for the actual asking her out, if you've taken the above advice, you should have a natural situation where you can talk to her like a human being, share stories, make her laugh, etc. Then you can end it with "I really enjoyed hanging out with you. Would you like to grab lunch* tomorrow?"
*or coffee, or go to X event, or whatever else you can think of that's a low-key, relaxing location to chat while doing something else. The key to non-awkwardness is to get to know someone while engaged in another activity.0