If you press ALT + E you get the extrude menu and it changes if you’re on vertex, edge or face select. You have a couple of options. But I guess the way I have always done it is to extrude and right click to cancel, then ALT + S to scale along the normals. Or maybe even the scale cage, if you click and hold on the scale tool, you can use the cage which lets you scale in different ways.
