Ok, I will attempt to explain things to you dim bulbs one more time using small words and pictures.
Asking a woman if she would like to go to dinner or telling her that you find her attractive and would be interested in pursuing a romantic relationship with her is unlikely to get you into trouble as long as a. you are not in an obvious no-go position such as having power over her and b. you accept whatever response she gives you gracefully.
Touch someone without their permission or asking a woman if she wants to fuck will have us reaching for the rusty grapefruit spoon.
Is that really so hard for you understand? Does it offend your manly sensibilities that women do not enjoy being dry humped by random men?