how do i actually ask someone to go on a date?

for context i have never been in a relationship. i've tried to like 3x when i was 13 and 15 but i just kind of stopped entirely until now.

there's this person i used to work with, and i still see them semi-frequently. we have eachother added on steam and instagram, but i think the last time we text eachother was a few months ago, despite that we still talk face to face when the opportunity is available. 

we have similar tastes in topics but the thing is i have no idea when and where. im trying to look for the time and place, i only see them when they work, pretty much never outside. and we have socials but its not often we talk on there because im terrible at starting texts incase i accidentally bother them. i dont really want to put them in the awkward position of texting them out of nowhere, or in the store. 

in a bit of a rock and a hard place and could use some assistance on how to go about it, basically.