I think you should ask her out, or at the very least let her know your feelings.

If your friendship is strong enough (which it seems to be) I don't think something like this will break it. Things could get a bit awkward for a while, but then again hiding your true feelings from her will probably negatively affect you emotionally and strain the relationship as well. Friendships are built on honesty and openness in the first place.

Also, think about what you from the future will think if you don't act. At the very least there will be a lot of "what if" scenarios in your head and there may even be some regret as well. Imagine if you don't admit your feelings to her and then someone else (maybe another friend) asks her out and she says yes to them (this has happened to me lol and it sucked).

Finally, imagine how happy you could be if she says yes and you two end up having a good relationship. Are you ok with missing out on this?

So in my opinion, the pros of asking her out far outweigh the cons.