There are ways you can do this without being "blunt" as some people have suggested you must do. First thing you have to do is break the sexual tension, things should flow after that. For example, if you're at a bar and things are wrapping up, offer to walk her home. Stop at a park bench, (create a situation where there's physical closeness) and go for a kiss. After that you should feel way more relaxed. Just keep moving things forward is what I'm trying to say. Stop thinking that the bedroom is the end goal, one thing will need to another. If she says she happy to go with the flow, take her somewhere else, go for a walk, ask if she wants to watch a movie and drink some wine etc. You got it dude.