it might be "too awkward" now, but if you want the relationship to evolve into something towards romantic and/or sexual, you still should do it.
Make it an elevator pitch and see if she's down for a Date. Use the D word.
Sooner the better; life is too short for placeholder relationships.
Remember that I won't rest, 'til we share the same tense
Just know, to me, you're better late than never again.