I have seen so many pretty feet with beautiful pedicures and toe and ankle jewelery in stores and such but I just don't have the guts to approach someone and tell them that they have really pretty, sexy feet.
'kay, here's your first problem. You don't see a person, you see "pretty feet". That's objectifying.
I am afraid of rejection or the person just calling me weird or something and end up embarrassing myself.
This part is kinda normal, despite the subject matter. Most guys don't have the guts to walk up to a woman and start a conversation, regardless of what they want to talk about. It can be overcome, and your chances of success go up dramatically if you're able to not act like you're Only After One Thing. Hint: opening with a fetishy comment is not the way to do that.
Although if she really liked my compliment and ended up taking me to her place for some foot worship and tickling fun then it would be all worthwhile.
Well then, it'll never be worthwhile because the chances of this happening are exactly nil. So, if that's the only reason you want to do it, then don't.
How do other TMF members offer a proper compliment and have any got the ultimate prize of getting a foot worship/tickle date based on your comments?
A) a "foot worship/tickle date" is not the "ultimate prize", so stop acting like it is. Talk to her like she's a person, not a target/object.
B) if you really think it is, then you'll probably never get anywhere with a woman who doesn't have an hourly rate attached. Get used to that.
C) Technically, yes. Nearly every woman I've ever actively complimented on their feet has let me 'experience' them eventually. So, I've gotten your "ultimate prize" many times over.
tl;dr - I agree with Jeff. The only times I've ever had a compliment received positively was when I had already established a rapport with her as a human being, and taken an interest in her as a person. If she likes you, you can tell her anything you want.