Asking her to hang out without being "creepy"?

CafeWRX
so I'm gonna ask this girl to hang out who works at this place I frequent. the problem is that I want to do it in a way that's not "creepy." I've been hanging out with my friends (girls) and they get hit on by guys and most of the time after it happens they're like "that guy was a creeper," or "that was kind of creepy." I don't know what the guidelines are and what is considered creepy or not nowadays. most of it seemed pretty normal to me.

so how do I come off as non creepy or is this different from girl to girl? is "do you want to hang out sometime?" creepy? also this isn't the first time I've ever talked to her. we have mini conversations while I'm there, because I'm usually not there long, and she's flirted with me a couple times. my friends have also said that they think she's interested but I'm pretty sure they're biased...

Asking her to hang out without being "creepy"?
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