Probably, the best way is to ask someone if they would like a date; the reason being that a date is easily and rapidly understood as meaning meeting up with no strings, that a second date not happening is no big deal and acceptable and understood by both....it is just a date.

If you are picking up in a supermarket, or out on the street, then this is good shorthand code which is universally understood, and so can be used.

If their default reflex reply is to say no, then you have opportunity to persuade them to change their mind, as it is only a date, and would be a fun thing to do, even if it came to nothing, which would be ok.....it is only a date. This gives them the time to weigh up the situation without any commitment. The date thing is a very useful tool.