Should I ask her out (I really need some advice)?

I've known her for about a year and a half and we're extremely close friends. The thought of seeing her makes me smile and I constantly think about her. According to her friends, she likes me too but I'm not sure. To make things even MORE awkward, our parents are best friends and would quickly find out. In the play A midsummer Night's dream, she is Hermia and I'm Lysander. We have a stage kiss (-_- Of course) and it's really awkward for both of us. I don't want to ruin a perfectly good friendship but I also think we'd be good together. Any suggestions?