Should I ask my coworker out on a semi platonic dinner?

Hypnos0929
(Disclaimer I'm partially against this idea but want to see what others think)

So I attended a social/dinner party of a coworker. She's a sweet person and has really tried to help me get better at our job, I am horrible at sales and she excels at it. It was a pretty fun night but I was kinda a stiff. I dont drink and I'm holding off on smoking till April.
Additionally she slept with another one of my coworkers.
I kinda like her but knowing that she slept with someone who I work with, and who I have to see every day (he's technically going to be an assistant manager soon), is kind of a turn off. I still feel like I owe her for the help she's given but I feel like it would be weird.
Also this isn't out of the blue either, she suggested it like last Monday and I said I'd think about it (but honestly I'm terrible with telling the difference between kindness and flirtation).

Should I ask her if she wants to get dinner?
Should I ask my coworker out on a semi platonic dinner?
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