Okay well by this point you probably know the girl's interested in you cause you've caught her looking at you when you're not looking,
So basically just call them (don't ask them out through a text), but in person is best. But you can text them something like "Aww I'm terrible at this" and when they text back "terrible at what" say "asking out a pretty girl" then call her on the phone and ask them out to the movies or something.
It worked for me hope it works for you too.
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