alt Hacker NewsI agree wholeheartedly with this article and this is something I'm struggling with my daughter about: the worst thing anybody can say is no and in some cases, they already said no. If you ask (or ask again), you might get a really good answer or more.
Build up with small challenges. Not sure how old your daughter is, but, for example, our 7 year got a gift card. They wanted to know how much it was worth -- so they were the ones who had to go up to the counter to ask the employee. Just practicing going into uncomfortable or unfamiliar situations is valuable, and leads to confidence for the bigger stuff.