When is the right time to ask a girl to hang out?

Before you can go to her and ask her to go out on sort of a date, you will need to get a taste of that friend zone which you say you are not good at. Mate, to be a friend is simpler then to manage a relationship. Now, switching on to the topic, just walk with her and keep on talking with her, and say something like, 'i feel really comfortable while i am with you' or 'its amazing how quick time flies when we are together!'. And then in the middle of the conversation, ask her out on kind of a casual way. good for you if the answer is yes, but don't persuade her much if she says no. There is always a second time.