In a straightforward manner. Decide what you want to go do -- dinner, movie, walk in the park, coffee at a coffeeshop. Then ask her "would you like to go do *insert activity here* with me?" The big thing for "not looking like a fool", I've found, is to not have all your hopes pinned on the answer being yes. If you are honestly trying to find out more about her and see if she'd be interested in you, then simply going for coffee together isn't a huge high pressure deal. Once it's merely two friends chatting and seeing if they have the same sense of humor, then the rest starts to follow. Besides, you might ask her out and then find out she has a really annoying laugh, or something like that. Don't idealize her too much before you get around to asking. She's just a girl. And you're just a guy (or girl). It's just a date, not a marriage proposal. Good luck.

Go over to her and tell her that you look her and you enjoy it very much if she wouldn't mind going on a date with you to see a movie and go eating. Make sure and be on your best behavior. That means saying only pleasant things, making the conversation all about her as opposed to yourself, so you don't come off as being narcissistic, and most importantly be polite & respectful. Oh, and don't take to her McDonald's on your 1st date. Somehow I don't think McDonald's has the right kind of ambiance for a dinner date. Instead, take her to a nice restaurant. It doesn't have to be something outrageously expensive like you have to drive a Rolls-Royce just to enter the building, but make sure that it's a family-friendly atmosphere such as "The Golden Corral." Take her to see a movie that SHE might like. Say to your date, "Hey, I heard such and such is playing, would you like to see that?" Whatever you do don't her to see some action-packed, thriller such as a Van Damme movie. Somehow, I don't think she would like that. Try to make it a movie that you'll both like such as a suspenseful film that is not vulgar or profane. Good luck and most importantly be yourself & have fun!