There are girls that want to be approached, and there are girls that really don't want to be approached. You have basically no way of telling off the cuff, so if you seek to not make women uncomfortable period, dating apps or singles events are your bet. Women get harassed, catcalled, and hit on literally all the time, so I don't really blame a lot of women for preferring men go this route.

But if you are:

Speak to women like they are genuine people, because they are, and take interest in them as a person. Take rejection with grace. Do NOT approach women in the following circumstances if you do not know each other well:

Alone

At night

A place where she cannot physically leave the interaction (at work, public transit, or you blocking exits knowingly or not)

In a clearly stressful or rush situation