In my experience, and everyone's is different, the key is to find a common activity/interest. I do consulting work, so I often change teams and walk in knowing no one. I've been complimented multiple times about noticeably increasing team cohesion. You know what I do? I start regular/consistent activities with the team. "Tuesday is my go out to lunch day, everyone is invited." I mean I literally just stand up in the middle of work and say that loud enough for surrounding people to hear. Sometimes I go alone, especially at first. But eventually people trickle in and then it doesn't take long before a group of 4-5 people are going to lunch every Tuesday. You can similarly start a regular happy hour if one is not already going on. People join who aren't even on my team, because they heard me invite everyone.

Outside of work, the path is to join a hobby. Find a softball league or something like that. This has built in consistent interaction and fosters expansion into happy hours after the games or other activities.

If there's anyone in your circle of acquaintances that has a birthday, tell them you'd really like to buy them a beer to celebrate their birthday. Ask open ended, "Hey, is there a day this week you're free? I owe you a birthday beer." Most adults no longer get real celebrations for their birthdays and will appreciate it if there's not some other social hurdle (actually busy, afraid you are trying to date them, etc). Some of those social hurdles (like afraid it's a date) can be overcome by suggesting it's a group thing. To use the work example again, "Hey team, it's Susan's birthday this week. I think it would be cool if we took her to lunch or something. Anyone else in?"

To put context on this, I am introverted and autistic (very low social needs). I do these behaviors explicitly for outcome oriented purposes (bring people joy, grow career).