I think my friends [19M] best friend [20F] might like me but I’m scared to do anything?

Long story short, my friend’s (D) best friend (S) is a girl. They’re completely platonic and have no interest in dating each other. I’m increasingly starting to suspect that S might like me, but I’m very nervous to flirt with her or attempt to ask her out because of D. She keeps asking me to sit next to her whenever we hang out, she keeps mentioning how “funny” I am, she clearly gets disappointed when I have to leave, and D has passed on a few times that S thinks I’m “Cool” or “Really smart”. I don’t know if I’m being a dumbass or what, I’m just VERY scared to attempt anything towards her in case it comes off wrong and she tells my friend I’m a creep or something
I think my friends [19M] best friend [20F] might like me but I’m scared to do anything?
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