Depends on the vibe. Back when I was single I tried to let things take their course and read the situation.
Coffee or hiking dates are usually just conversation in my experience. That's more about getting to know someone and less romantic.
If we're getting drinks and we get along, odds are pretty high that the night leads to a kiss (or more, depending on the number of drinks)
Just read the situation, don't be a creep, and don't overthink it. If ya'll are close and there's prolonged eye contact, it's pretty safe to assume you can make a move. Girls like confidence if they're into you