<human>: Condense the text into a few key points

Hey whats Reddit!!!
     As usual with alot of people i'm using a throw away, and not using my primary account..  I've seen reddit come through with solid advice for people on here and i'm hoping for the same.  

I'm just going to jump right in it so here goes..  I'm 31(m) and shes 32(f) and will be know as C from here on out.  Me and C have been friends for about 2 1/2 and i've been divorced for about a year and a half now.  Important note i have developed feeling for (duh) and C has 2 young kids.  When i got divorced i was stupid and used her as my sounding board for my crazy"forays" into the single world when i knew i liked her and have stopped awhile back btw.  I've talked to my other woman friends that i've talked to about this and they all said she prob feels friendzoned.  So we've been very good friends since.  

Fast forward till now, we talk/text almost everyday and haven't gone past 2 days without atleast texting.  About a year ago she said she wasnt looking for a relationship as she had just gotten out of a nasty breakup.  So anytime we do anything i don't really push it.  When we're out people think we're a couple and she doesn't stop them. 

So here's my question/problem.  I want to take her out on a real date to see if my feelings are true for her or not.  She won't leave her kids with anyone (understandable) and not for a extend period of time.  So how to i get a single mom on a date?  I've asked her out before and we couldn't get our schedules right..
<bot>: I want to take my good friend/crush out on a date but i was stupid and kinda friendzoned her in the beginning.  How do i get her out of it and out on a real date???