It's so sweet that you're considering her feelings and very responsible of you as well.
Most of us just dive in head first and then wonder where it went wrong.
However, only she knows if she's ready for another relationship. I think you should be honest with her and ask her out and move forward with dating her. The key is to follow her queues and if she seems like she's pulling away, maybe ask her if it's too fast, or simply mirror her reactions and back off a bit yourself.
Everyone thinks that relationships always have to be moving forward, but I like to think that there can be a little give a take, back and forth. As long as your talking to one another and being honest about your feelings, it'll smooth out eventually.