How do I initiate sex with my longtime friend ?

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Hey /lgbt/
I'm a 19 year old bi female looking for advice about my friend I'll greentext a backstory
> be me 15 year old awkward student
>it's a new year at school
> all of my friends always meet to hang out in the courtyard
>some new people are out there this year
>a really pretty skinny pale girl with cherry red hair is out there as well
> she comes up to me and tells me that the top I was wearing was flattering
>I have really big boobs
> for the rest of the year 10/10 red head girl spends her time groping and flirting with me.
>soon realize I'm not straight
> we always joke about fucking each other
>we planned to meet up and fuck but her job called her in
>I always kinda felt like that was an excuse to back out of the situation
>I eventually figure out that she flirts with me to entice dudes
>kinda sad cause I wanted to have sex with her
>she starts dating my friend Eric
>Eric really wanted us to have a threesome and even talked about dating both of us
> I dated both of them for a day or two and decided it was too weird and not worth it
>I wasn't really attracted to Eric it was always about the red head girl
>fast forward to this year
>Eric and red head girl break up
> she makes a tinder and she's been trying to date around casually
> realize I need to make my move and I talked about it with my boyfriend and he's more than ok with it
I just messaged her an hour ago asking if we could have a sleep over and she said that she's off next weekend so we can have one.
Okay /adv/ how do I make it clear that I'm trying to initiate something ? Also how do I initiate something ? I'm really awkward and don't want to mess this up I've never been with another girl before