wait...dude, why haven't you gone out with her again, yet?
Anyway, this is my advice. But again, I'm the guy who is saying to shy away from all these deep intimate convos. Girls say they like guys who listen. I don't buy that ****. They want a guy who talks. Who can tell stories, take them to another world. Make them feel like another, better version of themselves. You think Mystery, or Toecutter, or whoever just sits there and listens to the girl blab? No, man...they're storytellers.
Ok, so my advice is this. A chick is a chick is a chick. They might say they are really religious or whatnot, but when it gets to be the heat of the moment they sing a different song.
Personally, I don't ever talk ABOUT romance. Or try to steer the convo int hat direction. That's just me. I completely avoid sex in conversation. Other people embrace it. It depends on what you're comfortable with. If you are completely comfortable talking about sex & romance, then talk about it.
Ok, you need to escalate the touching. So, if you're ever walking anywhere, you can hold her hand. Should be no problem. Even friends hold hands. If you arent comfortable with that, you should at least put your arm around her.
If you tell a joke, or poke fun at her, you should sometimes lightly touch her on the arm. Like if she does something embarrassing, laugh with her, and as you are laughing brush her arm with your hand. She'll accept it because she is laughing and having a good time, and it's very good to do this because it creates sort of a subtext that you two are in your own little world.
If you want to get a kiss...hmmm...first of all, like I said, DO NOT wait until the last minute to get the kiss. Only do the whole, awkward, goodbye-kiss as a last resort. There should be times (that you have planned and are ready for) throughout the evening/day when you'll have opportunities to go in for a kiss. As far as how to get it...I mean, you could sit here all day and think of creative ways to get her to kiss you. But the bottom line is, whatever you say or do doesnt really matter that much. If she's gonna kiss you, she's gonna kiss you. You can ask her to kiss you. You can tell her to kiss you. You can just go in for it. You can tell her to close her eyes, and then go in for it. You can twirl her around and then go in for it. Bottom line...she's either kissing you or she isn't.
BOTTOM LINE: GET YOUR ASS OUT THERE AND TRY SOMETHING. HAVE A PLAN, AND STICK TO IT. YOU'RE NEVER GOING TO DO ANYTHING WITH HER IF YOU DONT CALL HER AND GO OUT AGAIN.