How did you ask your bridesmaids?

I am planning on having 5 bridesmaids, as well as asking a close friend to officiate for us. I'm going back and forth over doing some kind of formal "bridesmaid's proposal" thing or maybe a brunch and ask them all at once? But I wouldn't want to put anyone on the spot that felt they needed to decline for any reason. Being so overwhelmed by all the options is giving me a bit of paralysis, and it's getting to the point that I need to just suck it up and ask. How did y'all do it?