Just ask her out when you feel ready. Obviously what you and her have going right now is excellent! You'll know when the time is right to ask her out. Good luck! 
__________________
You are never given a wish
without being given the power to make it come true
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Somewhere there's someone who dreams of your smile,
and finds in your presence that life is worth while.
So when you are lonely, remember it's true
Somebody somewhere is thinking of you
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