How do i ask a friend out ... known her for bout 5 years!?

Hi.. i have this friend who im absolutely in love with for the last 4 years... around a year back i kinda asked her out but then backed out coz the whole situation was pretty odd coz i generally used to go blank at the sight of her.. anyways is there any chance i can ask her out again without causing any rifts! if yeah any help on how?? (i dont go blank anymore btw)