Bob, I've met you and hung out with you. You're a nice guy and you're polite. Be that. Don't be a douche nugget and don't be an egotistical prick and you will be fine. Be yourself and this girl would be stupid to not want to date you.
As for the date, lunch is good. If you want to play it safe, ask her out to coffee after work one day as a "1st official date." If you're feeling a bit more bold, go for drinks at a nice bar (or a sports bar, depending how she is) that isn't full of frat boys posturing about their cock sizes. Show a genuine interest in getting to know her more.
As for workplace relationships, just don't talk about it at work. Your relationship is your business. I know people who are cool with them and others who tell you not to "dip the pen in company ink" so to speak. As long as you keep your stuff to yourself and not let any of it affect your work ethic, you should be fine.
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