Invitation

how to say , Do you mind to go out for a coffee??
هل تمانع ان نخرج لنشرب القهوة؟؟

how to say = "How does one ask....?"

"What is the correct way of asking...?"

Invitation

how to say , Do you mind to go out for a coffee??

هل تمانع ان نخرج لنشرب القهوة؟؟

You are close...

You can say, "Would you like to go out for a coffee?" which is a simple invitation or

"Do you mind if we go out for a coffee?" in which you are asking if the addressee would mind or be inconvenienced by going out for a coffee.