Sexual consent is a seriously-charged topic of discussion, which combines interpersonal sexual relationships with social & cultural perspectives, and location-specific legal boundaries.
This article does not cover legal boundaries at all, so do your own research. Above all do not misread this as "BROJO said 'x' is OK." Use your own brain - your behavior is your own responsibility.
However, this article offers an overview of the concept of consent, and key perspectives that will help you determine whether you are behaving in a reasonable, masculine fasion.
Sexual consent describes one's approval, whether implicit or explicit, to participate in a sexual activity.
The viral video "Tea and Consent" is a cheeky, British way of discussing consent, but has very useful fundamental guidelines.
Overall, BROJO conceives these at three essential basics...
This obviously means that she must be conscious, as Tea and Consent makes clear. "Don't make them drink the tea." If you've missed that memo, someone seriously needs to set you straight.
However it also means that whe must be sober enough to be clearly and consciously aware of what she is doing and who she is with.
It is also crucial that she feel safe & comfortable to say NO, in every way-
Always give her a a safe, comfortable exit. Let her be there completely by choice. Make certain she feels safe at all times with you, as your first objective. Right behind that is expressing your sexual attraction- but her assured safety is always your first priority.
Emotional empathy is a very useful skill here, detecting emotional discomfort or uncertainty. However at any moment you are not sure how she feels, or whether she's comfortable, simply ask - "Is this OK?"
"No" means "Not yet," and you MUST respect that.