How do I tell someone I wanna see them?

There's this person I know from where I used to live that became my favorite. I was living in a strict home and she worked there. I moved out on July 1,2014 in the morning and she still worked there until she started college in Augusto 2014. I haven't seen her since before I moved, but we're friends on Facebook, message sometimes, but we also dont have each others phone numbers. And she told me in December 2013 that once I turned 18 and moved out, we can hang out and be really good friends and to just let her know and that she wanted to and wouldn't mind. And it's a little nerveracking for whatever reason. Any advice?
How do I tell someone I wanna see them?
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