Planning play date

My kid is in pre-k and has made some friends she’s interested in seeing outside of school. Thing is, it’s a daycare center so we all drop our kids off and pick them up at different times so I never encounter her friends’ parents. How do I go about setting something up for her? Would it be ok to give her a note with my number and a message for her friend’s parent to text me if they’re interested in a play date? I suck at social things and feel so stupid about this.