You shouldn't ask someone if you can touch her. She won't know if she wants you to touch her unless you touch her. Someone told me this once:
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Ask her if she wants to kiss you. If she says, 'I don't know' then you say "lets find out" and kiss her. If she says no say "I never said that you actually could." If she says yes, you should kiss her.
That's the best way to open a kiss, because if she wants to kiss you, you get to kiss and if she doesn't want to kiss you, you get to tease her and make her laugh.