I want to know if she's into me, any tips on how I can ask?

There's this girl who I've kind of known for a while and the previous times I've had friends over she came over glady, and I feel she's kinda into me.

I might sound like a dummy who thinks when a girl looks at him she likes him but it's really not the case.

I want to figure out how I could make it clear I'm into her and want to try a date or something similar without compromising a potential friendship or ruining future atmosphere when people are over. Any tips?