If $G$ is not open, then there does, in general, not exist a sequence of Lipschitz functions $(f_n)_{n \in \mathbb{N}}$ such that $0 \leq f_n \uparrow 1_G$.
Consider for instance $G=[0,1]$. Take a sequence of (Lipschitz) continuous functions $(f_n)_n$ such that $0 \leq f_n(0) \uparrow 1_{[0,1]}(0)=1$. Then we can find for large $n \in \mathbb{N}$ a constant $\delta>0$ such that $$f_n(x) \geq \frac{1}{2} \qquad \text{for $-\delta \leq x \leq 0$}.$$ Hence, $$f_n(x)> 0= 1_{[0,1]}(x) \qquad \text{for all $-\delta \leq x < 0$}.$$ This shows that $f_n(x) \uparrow 1_{[0,1]}(x)$ does not hold true for any $x \in [-\delta,0)$. This means that there cannot exist a sequence of continuous functions $(f_n)_{n \in \mathbb{N}}$ such that $0 \leq f_n \uparrow 1_{[0,1]}$.