GO FOR IT!! what d'u have to lose? even if she says 'no', she'll be flattered. i've had guys i wouldn't consider going out with ask me out, and it doesn't change our friendship at all. in fact, i think more of them for having the guts to ask.
oh and one more thing...maybe you should find out whether she has a boyfriend first...?
and i don't really see the fact that you work together as an obstacle...she IS the boss's daughter, so that means she doens't HAVE to work there; it's not a proper job you get what i mean? she's more like...helping out. think of it that way. and so why should her dad think any different of you taking her out than any other guy? does working for him make you not good enough for his daughter? i don't think so. at least you're not shy! go figure!!
Good luck!!