Did she just ask me out?

This girl I've known for a while and I were talking and I asked her to hang out. I suggested mall and movies and she thought that would sound great. Then she said later instead we should go out for ice cream and I said that would be great. She's really excited for this and so am I but is this a date? When a girl says go out for something is she asking you out? I'm just confused a little. I should note that we've been semi flirting back and fourth like she's called me cute a couple times and I said she was pretty as well so yeah please help me out.
Did she just ask me out?
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