[24M] Advice on asking out a coworker

I'm a 24-year-old male with practically zero dating experience, mostly because I'm a very shy person and my hobbies don't involve being around other people. There is a coworker (she in a completely different department that I don't have to interact with) that I really like and that I'd like to ask out, however I'm not really sure how to approach her. We've only talked on a few occasions so I'm not sure whether asking her out-of-the-blue or sending her a friend request online wouldn't come off as creepy. I would be very greatful any kind of advice.