Making plans with someone that has a baby?

I am currently expecting, but I know two girls who have babies under 2 and would like to get to know them and make plans with them. I’m not really sure what to suggest because I know making plans when you have a baby can be hard. Should I just invite them to a coffee shop? Should I invite myself over to their place so they don’t have to feel pressured to take the kids out or find childcare? Or should I suggest something more baby friendly like getting coffee and going for a walk? I’m probably overthinking this but would love to know from other moms what they would prefer in this situation! :)