Does this girl like me as a friend?

I've known a girl that I work with for 3 years. I like her and want to know her a little bit better as a friend. We don't see each other much, but, when we see each other, we have a handful of small conversations. Other than those, small talk, really.

I've noticed she likes to share laughs and have good conversations with others, but I have sometimes received the impression that maybe she isn't interested in me as a friend. Not quite sure, but I don't want to be judgmental. I will admit that I am usually shy and nervous around girls I like, so I am not sure if that may be a reason.

Any advice or tips can be helpful. Thank you.