I get where you're coming from and I'm not going to start beating my chest like some of these other air-filled meatheads in the comments above or give you any advice.
It's really horrible asking someone out, it's humiliating! You have to put yourself in this extremely vulnerable position where someone essentially has the power to reject you in your entirety. That's so scary! If you're not scared of that, you're either thick, have a complete lack of integrity or you're a psychopath.
However, the people that have the most sex or date the most are the people that make a move. Guy or girl; the majority of us are shy and afraid of not being accepted and don't want to risk it by making the first move.
If you're not bothered being single and not sleeping with people, then it's fine. You don't have to put yourself in that position. It does sound like you want to date women though, in which case - for your own sake- you have a responsibility to learn how to make a move. If you want something, it's your responsibility to get that thing, not for everyone else to bring it to you.
Final Point: Most girls can empathise with being rejected and understand the courage it takes to ask someone out. Most girls are flattered that you've even considered them in that way. And at the very least most people are polite enough to come up with a convenient lie to protect your feelings. You care far more about your failures and rejections than anyone else does and it's easy to build up these fantasy nightmares where you ask a woman out and she calls you a rapist... but that's never happened to anyone I know.
Dating is very frustrating, try not to become bitter and angry at girls, they're playing by slightly different rules but it's no more fun for them.
Good luck :)