Tip: Never start the conversation about "street photography", be curious about the person.
Tip: it's not about getting the photo, it's about connecting with people.
Step 1: Eye contact, smile and approach. (Smile not too much)
Step 2: Tell them what you saw - "Excuse me, I saw you perfectly standing here in front of ..."
Step 3: Point at the camera to express your "desire" to take a picture of the stranger.
Step 4: Take that damn shot.