That’s PUA stuff.
No. Not really. You start with "I would like to invite you on a date with me" and take it from there. If she will say no, you'll have your answer without sounding like a desperate simp confessing his love. You have nothing to loose really. Maybe she'll say YES!
What if you develop a crush on someone you’ve been friends with for years?
As in you’ve been friends with a girl for years and then you get crush on them whereas you didn’t before.
What about it?
What should you do then? Will you get rejected if you ask her on a date out of the blue?
I told you what you should do...
Just ask her out damn it!!! It's not hard.
Even if it’s after being friends with her for years including hanging out one on one?
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If she doesn't have a crush on you