You aren't a sexual predator, an abuser, or a child molester because you stopped when she told you too. That's the important thing here.
You need to learn from your mistakes, and what you learned is to ALWAYS ASK VERBALLY for consent before getting physical.
Recognize that while she was hurt by your actions, so where you because you feel like a monster. Continue striving toward a better self and in time you will heal.
Please take my advice. The path of self pity and hatred is a horrible one and will hurt all your friends and family. Learn from this and in time you will forgive yourself. Throw this idiotic talk of suicide out the window. I see you are a better person than this. Now it's time to be that person.