It's just a question. Ask. It's better that you know than wonder about it for the rest of your life. I know how much rejection can hurt, but it sure beats feeling like a coward after you pass up your chance.
If you go the route of inviting her out with friends, there is the small chance that she makes apparent her feelings for someone else in attendance. Practice keeping your center, and your poker face.
When it comes to women, we don't have to be scared, just obedient.