I think you already have a good start here:
I know for a fact that our friendship is 100% genuine, and that is what I cherish the most. All of the compliments I send [your] way are honest, and I believe my actions to not have second means. If I give [you] rides it's because I enjoy our talks, enjoy our time together. The friendship is definitely much clearer than any ulterior feeling I am thinking about here.
Then tell her what you want, e.g., "I'd like to see if there's any romantic chemistry between us, can I take you out on an official dinner date?" Considering you two are close already, maybe you can have a deeper conversation about it; tell her your feelings and wants, and ask her what she wants out of a romantic partner (if she even wants one), and if you're in the ballpark of what she's looking for.
Also, I suggest going into this conversation with a relational mindset. You don't want to go into it worrying about what she'll say, or if you'll ruin what you have. You should be interested in what she has to say, and open to whatever she is feeling, and embrace the opportunity to get to know her better, even if you're not going to be in the picture as a romantic partner.
Lol I love this. Also, I had the same thought: seems like a BIG sign with flashing arrows.