Hey Kyuui, I'm pretty new here, but I'll tell you my opinion anyway, it might help
I got into a similar situation sometime ago, except that she had a boyfriend. Well everything seemed to go towards the f-closing, I was massaging here, we had quite some wine and we were at hers. However, the situation didn't really evolve anywhere further, and I ended up just massaging her, smoking a cigarette and leaving..pretty bad huh?
Anyway, thinking about my mistakes, I would suggest you to go out for drinks first, as you said. In this way you can talk, and create some closeness with her sharing experiences etc. Then, I would invite her at yours for some more drinks and, once there, I would come up with the massage thing. She will probably agree. So do that, and you could then say something like "well, I can't really show you my skills like that, you should at least lie on the couch and take off your shirt, so I can use some oil" or something like that. If you sound authoritative but, at the same time, you put in a "I'm just saying that in order to give you a better massage" way, she would probably agree. Then, from there, you could try to massage her legs and try to turn her on. If you see that it's working, I would just gently turn her on her back and go for it. I agree with PEBBLE.