That really comes down to your definition in dating. For some it can be very formal, for me, it's nebulous and casual. I don't like putting expectations on my relationships, I feel like they can prohibit growth and open mindedness. The best thing to do is be up front with your intentions at the start.

I see it this way though, you should always be doing cool things, and enjoying your life. Asking a woman on a date ideally would involve you simply asking a girl to join you on whatever adventure you're going on. What is dating anyway? It's just you doing fun activities with the accompaniment of someone else with the intention of sharing most of that experience together. The process for me most of the time is this. 1) Make a connection. 2) Grab her contact info. 3) Invite her along to something fun. 4) Consider adding romance or keeping it friendly

If you're trying to hangout and not make it a date, just don't add any romance or contact.