Most Helpful Girl
Kiss her on cheeks first. But actually if she asked you out she just wants to be kissed so dont be nervous. I have kissed my boyfriend on 6th date :D and it was not stressful, because it was at a party where we were relaxed and affectionate so it just came naturally. If you plan kiss her there then try to be more affectionate, ex. Hold her hand, hug her , put your hand on her waist and rub fingers. It will be easier to kiss her in such way.
Most Helpful Guy
For me if you get to hold hands you can feel the energy and vibe around oneanother and move in for the kiss. First, second or whatever date - some people take their time some people feel if nothing happens in the first few then it's pointless. You aren't going with the goal to sleep with her, you just want to kiss her to get a bit more sensual with each other..
So, next time you get into a little intimate spot (bench, park, quiet corner in a restaurant, drive into some random location in the night, lake during the day/night etc...) just get into holding hands or get physically close to her, see how both of you get shy and nervous then just go for it.
Obviously when girls make moves, for me that is unbelievably awesome. Proactive girls who aren't afraid to take what they want, but due to this silly stereotype invented by mankind men are forced to make a lot of first moved with dates, kisses, etc. So, maybe she is waiting for you - don't let it go on too much!
Enjoy it, once it's over, even if it's bad (it won't be) you will both enjoy having gotten closer and over time (you have confessed feelings to each other anyways) you will get better and responding to each other's sensual needs.