I think every guy has been in this situation. I know I certainly can't be good friends with a girl that I'm attracted to, too many conflicting emotions. It's either all or nothing.
Having said that, your approach really depends on the girl. Some girls will say that friends can eventually turn into boyfriends, others will say that the friend zone is permanent.
I would avoid the direct talk that basically leads you to saying "I like you more than just a friend." It comes out of the blue and usually scares people off.
You're better off testing things out to begin with. Treat her like a date when you're out. Hold the door for her, take her coat, flirt with her etc... Girls are pretty smart and she'll get the hint and go from there.
If she reciprocates, great! If she asks you what's up, then I think it's ok to be honest at this point.
Good luck.
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