Be sensual? I don't know a girl that would consent from kissing. My general process is initiate cuddling. This first step is vital, because you need to not be a dick and cuddle with her more then when you just want sex.
step two place your palms on the soft spot between where the legs join the torso. This typically stimulates a calming and bonding factor which will make her more apt to want to connect with you.
every now and again casually breath on her neck. if you're doing it right you should know. Eventually make your move. begin the nest step lightly run your tongue up her ear, nibble it. If she initially objects because she thinks its weird assure her it will feel good, then try agian. If she initially objects because she is not in the mood tuck your dick between your legs and deal with it, that is stop. Next step is hands, bring one hand from the sub tummy position to the opposite side of the neck like a hug and applying as little pressure as possible run your hands over her shoulder and neck. across her collar bones. and continue ear stimulation. if she turns her head to you for kisses do so. if this happens you can typically skip ahead a bit if not. once you feel the sexual tension building, slide your hand down her chest in the same sensuous manner as before rub the area around the breast for a moment before moving into nipple stimulation. eventually if you're any good at being sensuous you'll get to a point where she will have her eyes closed, moving her head ect. enjoying your touch and focusing on it.
remove the shirt and any other garments on her chest, get her on her back and stimulate her nipples, kiss across her chest. once that has gone its course kiss down her chest to her waist and slowly remover pants, when you tug em off run your hands down her thighs then run them back up. tease her, get her excited for you to go down on her by kissing her inner thighs rubbing your hands underneath the top of her knee and along the back of her thigh. Then slide them panties off. and go down on her. If you don't want to go down on her, you don't deserve sex and shouldn't employ this guide.
eventually she may decide to let you get with it. if not get her off.
the most important pieces of this guide are
1 be interested in HER, if you're not genuinely more interested in her pleasure more than your own then A. she will know B. becasue of that it will not work.
2 you should go down on her, not only will this more apt to perform well later, but if you're seriously more concerned about yourself you're a dick and should jump of a cliff.
3 if it doesn't work it doesn't work she may so no, in which case you need to accept that.
4 if you don't like being non-sexually driven sensual, cuddling regularly, massaging her for no reason ect. then this guide/sex/women is not right for you.