What is the best way to get closer to your crush

So Me and my crush have known we like each other for a year, and its two way love, my parents aren't allowing me to date yet, so all I want to do for now is in some form become closer to her, most perferably friends, I'll be fine with other things, but I don't want to be where I am now (in figuitive terms, I'm as close to her as the sun is to Pluto.). One of the reasons I want to start getting closer to her is mostly so I can get to know her, but an extension to this is because I'm awkward, very, especially towards her, I'm very shy to a extent, and getting to know people helps me be less awkward when talk/having conversation with people and just flat out socializing/hanging out with people, and I even recently made our relationship even more complicated, I had written her a poem and read it to her at a school dance she said she liked it. Before that we could have a friendly conversation and it wouldn't matter, but now it does cause EVERYONE knows, and now we barely talk and don't go near each other, to me it just seems weird to walk up and start a conversation but if that would most likely be best if do it, just try to give me tips on what to start with and when is the best time to do it if you're going to suggest that. Everyone who answers has my sincere thanks because I can't stand not doing anything about this and every time I've tried this before I completely failed because I couldn't even get close to her, I got super nervous and backed down, I can't do it without a full proof plan that has a good change of doing something that puts stuff in the direction I want.
You may have noticed that this is a discussion, this is because I want to maybe collaborate with ideas I get from you guys and to more easily give more information if needed.