How to approach a girl I see regularly without making things awkward?

I'm a university student. I play beach volleyball weekly with the same group of people in the student courts, and there's a girl I am interested in. I'd like to get to know her better and see if there could be more between us. But, I don't want to make things awkward between us, particularly since we'll keep seeing each other every week.

What do you think is the best way for me to approach? Should I first try to build more connection through casual conversations over a few weeks (she may notice), or is it better to simply ask her out for a coffee or something like that?