Did the girl like hanging out with you?
If yes, say "I want to see you again".
If she agrees, you'll naturally figure out a plan, get to know one another, and either resent each other or be happily naked together.
There was one girl in college that was kinda timid/horny and I just asked her one day if she wants me to just jump her as soon as I answer the door. That was the correct assumption for that specific person but it took me a couple weeks to get to know her well enough to suggest that.