I wanna ask a girl out but I don't know a good way to do it.?

There's this girl ive been talking to for awhile and i really don't know how to do it because im 14 and shes 16, she also dated my brother who is now 17 2 years ago, so i really don't know if i should ask her out and if i should then how? any ideas, im pretty good looking and we've been talking for a while so i think she will say yes but i don't know what to do. Also I think it would be wierd if i dated her since she can drive and has a truck, but i dont. Ive already kissed her so the age isnt a problem, but also i am kind of a player so im not stupid on the dating and sex crap its just that i ACTUALLY like this girl.