There is a girl I like, we have been friends for a year, but I am not sure how to ask her out or even if I should.

Do it, you will regret not doing it. The worst that can happen is she says no. If she says no you can move on to someone e.

Yeah, to be blunt, just do it.
Hope for the best and prepare for the worst, is all I can tell you. Like 2 pointed out, you'll regret not doing it.
Not gonna lie it's scary af in the moment (trust me I know, I'm in a very similar situation right now....).
Personally, what I plan to do is to give myself a "deadline" (it has worked in other spheres of my life, so I'll try it in the romantic section) because with stuff like that where you doubt yourself and aren't sure if you're doing the "right" thing, you need something to make you stop procrastinating. So you give yourself a deadline that you HAVE to keep with.
If you think it might help and want to try it out, go for it. Hope this helps.

Just go for it. It's been said but I'll say it again, the worst she can do is say no. Don't live your life with regrets or forever wondering "What if..."

Just ask her to go on a date. I’ve made the mistake of not asking myself and as I’ve gotten older I’ve started being more straight forward. I’ve found it’s better to ask regardless of the answer than never knowing what could’ve happened.