If you want her, then go for it. I have to disagree with the people saying just stay friends and nothing more, because if you really like her you shouldn't settle for that to keep a friendship. If you two are good friends then you will probably stay friends whether or not you get involved in a relationship with her, so it shouldn't be a concern.

If there can be something more between you and her, then don't let that go to waste, because not acting on it may be something you will really regret later on.