Awkward Girl tribulations

I'm a queer girl who would like to ask another queer girl out on a date. I have never done this before. How do I do this without being stupid? OK, some background around me: I'm 24, pansexual, currently in a 4-year open relationship with a guy who's cool about all this so long as we play it safe. We never really had a "courtship/dating period" - we knew each other at university, got together at an event, and pretty much camped out at each other's dorm rooms since. People tend to be surprised to hear I'm queer - I don't really fall into butch/femme and despite volunteering at queer events I sometimes do get asked "what are you doing here?". In the past I have tried asking people out, but without success. The guys in general tend to be flattered; however, I get mixed reactions from girls - some are amused, while some are horrified enough to even be considered queer and end up not talking to me. Eep.

Right now I am looking for a girl for a relaxed casual relationship - nothing especially deep, more like a friends-with-benefits thing. (I'm open to it progressing if it does happen, but I'm not actively seeking it out.) I've got a few people in mind; most of them are casual friends or acquaintances that I know from a previous project or through mutual friends.

Currently I'm thinking of a new acquaintance who spearheaded a project I was a part of (the project has since ended). We got along pretty well, though all this while our interactions have been more project-based than anything personal. We have each other on Facebook and have plenty of mutual friends, but that's about it really.

I'd like to ask her out on a date and see how it goes. But I'm too scared! I know for sure she's queer (she's out) so at least one big problem is cleared, but just because she's into girls doesn't mean she's into me. I just don't want her to end up like some of the other girls I've asked before, who end up finding me creepy and not talk to me.

How do I ask her out? What can I say to express my interest? If I was utterly direct I would probably say "Hey, I think you're pretty cool and I'd like to get to know you better. Could I ask you out for a coffee sometime?"...which probably either could come off as creepy, or just sounds like 2 friends hanging out instead of "oh, and I'd like to get in your pants" (which, OK, IS creepy).

If I do make the first move, and if miracles happen & she accepts, how do we proceed? How do I communicate my interest without overloading her? In the past I've had people turn me down saying they don't "love" me; I don't need her to have any especially strong feelings for me (asides from goodwill and camaraderie), I just want to have some friendly physical fun & take it easy. How do I do that without coming off as an asshole?

I'm probably overthinking this, aren't I? ugh, I'm so awkward.

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