How do you befriend and ask out women in your social circle without being "the friend" to her?

I notice that if I am friends with a woman in my social circle, we ALWAYS will be friends, NOTHING more. What do I do from the start and as time goes on? How long should you wait to avoid coming on too strong but avoid waiting too long to the point you get forgotten or left behind for another guy who asked her out before you did?

How would you ask out women in your social circle without being the creep who runs after the single women? I hear that this is how so many people meet their partner if not in the bars or online