When two people want a photo together, ask, 'Would you like me to take a photo of you two?' It offers a choice. 'Of you two' names the people in the picture; 'for you' stresses the favour.
The full question sounds polite and natural. More casually, say, 'Want me to take one for you?' Avoid 'I help you take a photo', which sounds like an announcement. Take their phone only if they accept. If they say 'No, thanks', 'No worries' is enough.
Usage reference:
https://learnenglishteens.britishcouncil.org/grammar/b1-b2-grammar/can-could-would-invitations-offers-requests-permission
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