Should I ask her out?

Ok I want to ask out my friend who I've known for a year. I haven’t started liking her until a couple weeks ago after we went to prom together, and now I'm really starting to like her and it's driving me insane that I haven't asked her yet. My best friend, who has known her for a lifetime, has told me that she has said that I'm cute and really attractive before, and SHE asked ME to prom this year. The problem is, I don't really know if she interested in me or not, and when we all hang out together in our group, she just doesn't seem interested in me, in my opinion. I want to ask her out, but I'm so terrified of rejection that I'm way too afraid to ask her. I have suffered from very low self esteem and depression, so I'm just extremely terrified she's going to say no. Should I just go ahead and ask her out?
Should I ask her out?
Add Opinion