Not bad advice so much as advice that sounds like it was pulled from a teenager's mind or a romance novel. I don't feel like forcing someone into a kiss with you is the best way of announcing you like them. I know it's romantic and cute if it works out, but if it doesn't you've just forced someone into unwanted physical contact, which is a really crappy thing to do. At least asking "Can I kiss you?" gives them the option to say no without being forced to participate first.
I say go for it. I mean, I'm pretty much in the same boat as you.
I really like this girl who is also my best friend, and I kinda afraid of asking her out because I was afraid that it would make our friendship a bit awkward. But tomorrow I would definitely going to tell her how I feel about her.
My mom told me that dating your best friend is the best relationship there is and I believe her. So I have faith in you.