Once those barriers come down that kiss will just happen - but YOU will have to go for it. Women want a strong guy, not the 'nice' guy who's so respectful and laid back that they have no spine. The 'nice' guys are the ones looking for a mommy to take care of them and tell them what to do - you want to be a man. At the end of the day women don't want a jerk but they want someone who can stand up, have confidence, and go after what they want. One of the reasons for the perception of women dropping the safe guy and running away with the tattooed guy on a motorcycle. The latter is confident - you have to show her that.
That said I wouldn't make the first kiss a sailor type
As Arti said don't make it a big talk - if you look in her eyes and move towards her she's either going to reciprocate or turn away.
Do a search for DannoXYZ talking about dating - he's got some great advice here on Foo.