If you're already stuck in the friend zone, it will be difficult to break out of. It's possible, just not very likely. If you want to give it a go, your first thing to do is spend more time with her. Ask her to hang out with you and some friends one day. Then the next time, ask her to see a new movie with you. Don't try to force a relationship, because that could quickly ruin whatever friendship you have now. You have to take it slowly, and when you think she might be attracted to you, go for the kiss.
Or an alternative thing would be this... if you're ever hanging out with one of her friends, casually drop a line like "Man, [she] looked really good at the mall the other day. I wonder if she has a boyfriend." Don't tell her friend to ask her if she likes you or anything, but make sure you have some interest there. Undoubtedly her friend will tell her about it, and then if she thinks it's worth a go she'll make sure you know about it.
It's a touchy thing, Brent. Patience is the most important part.