What to do about this girl?

There's a girl i have a crush on. I've had it on her since last year. She added me on Facebook ages ago but i never really spoke to her. I tried saying hi to her on Facebook last year but she obviously ignored it due to my lack of confidence. It's been really bugging me recently and i wanna ask her out or something, that way i can get an answer and move on. I'm friends with one of her friends that's on my course and i'd like to ask for her number and then arrange a date or something. The only thing stopping me is the immense amount of fear that comes over me whenever i think about doing that. I always look at her Facebook profile and i'm sure that she looks at mine because she always pops up on my chatfeed / sidebar thingy. I don't really feel good enough for her and my self esteem / confidence isn't that great but i have to let out my feelings sometime. I can't not know because i'll regret it when i get old and grey. She most likely is going to reject me, and even if she does, then at least i can move on and be happy that i at least tried. What would you do if you were in my position?

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