Don't ask. Just assume that they already want to go. I think it sounds less weird/ needy, but that's just coming from another guy.
Instead of saying, "Hey, do you want to chill today?"
Say something like, "Hey, I'm free from work, let's have some fun and do something!" (or just add what you want to do)
It sounds more confident, and if she can't go, then she'll just say she can't go. No problems, just go on to the next one.
but I'm no Romeo, so idk if it actually sounds less creepy or not.