We all barely know people before we get to know them, spending time around them and talking to them is how we get to know who they are, I think if you feel safe and you are interested in this person then absolutely you should ask them if they would like to go out so you could get to know them better, and to see if you like them or not...)
It would be kind of awkward. You should get to know them better first. You might find out that once you know them better you're not all that into them, or you might find out you like them even more! Either way, you should get to know them better first.