How do I ask a girl out with social anxiety?

Alivo
Ok so I've been friends with a girl I know though work. We've gone out to the movies a few times and had dinner together, not on a date but just as friends. However I have developed romantic feelings for her but I have no idea how she feels about me, but knowing my luck she won't feel the same way. The thing is I simply cannot build up the courage to ask her out. I am super shy and nervous around girls I find attractive but that is not the only reason, a few of these reasons include: Inexperience with women, lack of understanding of relationships, fear of rejection and unable to find the words to say. I basically over think everything and I would love to hear of some encouraging advice.
How do I ask a girl out with social anxiety?
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