I want to have sex but not 100% all the way

So like I want to get eaten out and I want to give a blow job but I don’t feel like I’m ready for penetration. But I also wanna have sex how you would with a girl normally. My friend is bi and she will probably be down if I ask her, but I feel more at ease doing it with a girl b/c there’s no penetration involved. we played chapstick challenge b4 (this was like 2 years ago I promise I’m not like 12) and so we’ve kissed like 7 times and after it was obvious she was blushing. we’ve taken a shower together (we weren’t naked and it was to save water lol) b4 too so like it’s not like it’s completely awkward for us lol. I’m still just a tiny bit nervous to ask her tho, just because, do you guys think I should ask her next time she sleeps over? And is it normal to feel this way?