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If they're looking at you and you get that gut feeling they're into you, go up to them, smile (a genuine smile, not one of those creepy-as-fuck smiles where you only use your mouth) and say hi. Strike up a conversation about something in your surrounding, then branch off from there. Will you always succeed? No. Is there a chance you'll end up freezing mid-conversation and look like an idiot? Yes, but that's great, because you'll gain a whole world of experience.
THIS. Just start approaching girls, learn how to talk to people, and learn how to get numbers. If they look at you and smile, you walk up smile and start conversation, then you're 75% the way there. Just be confident, demonstrate that you like her, and go for the number after a minute or two.