Hi lone wolf,
She might already sense it. Girls often sense stuff like this.
I would be as sincere as possible (even though it's nerve wracking) and in a quiet moment or a pause in the conversation simply say "[her name] would you like to go on a date sometime? I happen to think you are really awesome."
It's a complement, it's not forceful and it's just asking about possible taking it a step further. If she says yes, take it slow and try a few dates. If she says no, don't be afraid to tell her you are disappointed. Then you will know... and can start looking for other fish in the sea.
Sending supportive thoughts your way...
Elana