This is totally lame...

Very Simple, don't think too hard and just casually have her friend introduce you. Or swallow your pride and just talk to her out of the blue...perhaps you might have something in common then the conversation goes off from there. Oh yeah, since it seems apparent that you have an attraction, don't be nervous....girls (in my knowledge) do not like seeing a nervous noob come up to her and ask for a drink of coffee.
After this...there is only 2 ways...it can either go up or down. Your mood increases due to acceptance or horrible destruction and depression. Take your pick, this is always interesting.

How ya doing, buddy?

Hahah russ pretty much nailed it. There are two extremes, one being nervous and other being cocky. The happy medium would be more ideal. Of course, it doesnt hurt to at least approach her and give her a slight nudge...the most important part is striking a converstation then you got something going. Also confidence is the key, if you believe you can do it...you have a higher chance.

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Ahh but first impressions are VERY important. You don't want to come off as some guy without a backbone.

This thing is sticky, and I don't like it. I don't appreciate it.