How do I actually ask a girl out?

I know it is a stupid question but how do you actually ask a girl out?, I am a 23 year old guy and i don't have a problem talking to girls or anything, but its actually closing the deal that I suck at, i have had girlfriends before but they are the ones tho i guess started it. i have missed out on so many chances with girls because i over think things or hesitate and so much times passes or I never see them again.

I learn better when i have examples, so if you could give me a scenario or example that would be great.

Goku2017-03-28T03:03:41Z

Oh s**** I'm 23 and I'm in the same boat lol