Try to find out if she feels the same, from mutual friend or others, discreet of course.
Ooooor better, ask her straight, if she accept, good. If not, then it'll be awkward for a moment but accept that it was her decision and that you guys can Still be friend.
this dude above makes a good point
and if you're too awkward to ask her out face to face use the blessing that is technology, send her a text or give her a call...