What to do when you get a girl home ?

This has happened to me twice that after two dates I took a girl home. On the date we didn't kiss but I got in bed with them at home.

The first time I put my arm around her and she removed it and said " I just want to talk" and she said I'm going to sleep but then cuddled me a bit and then asked to leave at like 4 in the morning.

Last night I did the same and I was afraid to once again do the same as last time it didn't work well but didn't know what to do. I just talked to her instead and then went to sleep.

All I want to do is finally lose my virginity. Next time should I straight up ask her " look do you want to take my virginity"?

Thanks guys