well what are you looking for in the end?
Sometimes it makes it easier to just interact with them the same as you would one of your other friends you are comfortable with. Just pretend she's someone you are comfortable with.
Don't put pressure on yourself, and just be who you are! If she don't like who you are, then find another friend!
Get to know her better, just by hanging out. Sometimes social interactions are less awkward when you are doing something, like playing a sport, playing video games, or even in a bigger group of people. And if you find your interests collide, don't worry about trying to change yourself for anyone.
Some girls are not really into crude sexual humour like you might be into with your friends, but you'll never know unless you go for it. Women really aren't all the same, so just have fun with getting to know her! Good luck!