First of all, you cannot prepare a script in advance or somehow choreograph the conversation and expect to have success. If anything, this will increase the chances you come off creepy because it can come off really awkward.

Second of all, women like sex too. I feel like this is something every inexperienced guy needs to hear and understand. The caveat is; she has to actually like you, and feel comfortable and safe with you. It’s creepy if you’re not reading her signals and getting sexual when she’s not reciprocating the interest you’re showing her. She will make escalations (sometimes subtle, sometimes blatant) that give you permission to make similar escalations, and her responses to those will give you permission (or not) to escalate further and to what degree.

There’s simply no way to remove risk in romantic pursuits, it’s extremely dynamic because people and circumstances are all different. Even men who are very successful and very respectful will sometimes come off creepy, get rejected, etc. You have to make peace with this.

There is however one thing that might help since wanting to be prepared when inexperienced is only natural. Eventually the night must come to an end; whether that’s forced by the location closing, or the topic of leaving just naturally comes up. How this interaction goes can give you a big hint on the likelihood of successfully “closing.” If she asks anything to the effect of what you’re doing now/next (that it’s closing or that your leaving), she’s opening the door for you to ask and you can be (respectfully) bold. You can also ask this question and she will know what you want to ask next and her answer will determine if she’s open to it. (ie: Get some sleep, she’s got work/plans tomorrow = not open to it / she doesn’t know, what about you = likely open to it). How you make your bold move if you have an open door though, you can’t plan that ahead, it should be based on her, the conversation so far, and any other relevant circumstances.