How can I ask a woman out with out freaking her out?

Find an activity based on something you've discussed, then suggest that you two go do it together. Not a "date" but just finding something you can do together. Like if you've discussed homeless people and/or the current housing shortage, you could check out volunteer work with Habitat for Humanity and go help build a house.

The other way would be to ask her for help with something you know she's good at. Offer to take her to lunch if she'll come over one morning and take a look at your garden and advise you (assuming she's into gardening) about what to plant.

Allow me to assume you have just recently met.
Let her know you are going over to the Karaoke bar up on the other side of town. "If you aren't busy you might like to come with and keep company."

Don't go through all the red tape. Tell her where you're heading off to and would enjoy having her company.

Just dont do it in front of her house. ..should b fine

You take it slow..1st date in a coffee shop!

By getting to know her first to see if you'd actually like her.