Don't wait till the end of the date and don't do it when she has raw fish in her mouth...Do kiss her during the date, don't wait till the end, it will always be awkward and pressurised in the final moment of saying good bye. PLUS she'll be thinking about it the whole time so if you do it during the date you'll both relax for the rest of it

...BUT don't force it either.
So you should just enjoy the date as normal, touch her quite a bit, i.e. BUILD KINO, start small, little slaps if she says something funny, then touch her face if you lean in if she tells you something or touch her leg for just a second if you're leaning for something or telling a story or anything. Tell her she has cute little hands and put yours up to her to compare, or do some of that trust test bullshit, I personally like the palm reading routine, I just make up funny stuff like how they'll get super rich from the lottery but lose it all gambling etc.
Once you get used to touching her it'll all be fine, believe me, you'll know when the moment is.
There is nothing worse than not touching her at all during the date and then go in for kiss at the end when you're saying good bye.
Hope this helps and good luck!
~Winchester