I can't believe I haven't seen a single comment about non-verbal communication. No, a girl doesn't want you to ask for a kiss (it comes off as incredibly lacking in self confidence), but she better be touching you, smiling a lot (at you not just in general), laughing at your jokes, playing with her hair and/or many other things that show you she's saying she wants you to go further.
Everyone here is talking exclusively about verbal communication, but in courting non-verbal communication is the key context. Women are masters of it, but most men are only barely aware of it and that's where most of the problems in these kinds of materials come from and how well authors teach inept men how to read and respond to body language is what really separates a decent "dating" guide from a misogynistic "how to get charged with sexual assault" guide.
The Guide's author is a horrible writer and only makes passing references to reading non-verbal communication, but builds all of his "techniques" upon it. That's why they are all so horrible.
If you're chatting with a girl and she's smiling, playing with her hair and glancing down when you make prolonged eye contact you're probably okay to brush against her arm or touch her shoulder or elbow or even if you're bold pick her up and put her in your lap (but that'd force a girl to immediately decide if she likes you or to reject you).
In contrast if you're talking at a girl and she answers in the minimum length sentences, won't look at you, and has her arms crossed then touching her in anyway is going to make her want to get the hell away form you.
Similarly if you're in your bedroom because she came home with you when you invited her, you've been making out and her shirt is off then opening your pants and putting her hand on your penis probably isn't the smoothest thing, but probably isn't a deal breaker for her at that point either.
Again opposed to you sharing a taxi with her and asking her 10 times if you can come up for coffee/tea/drink then once you're inside her place and pulling your penis out, that's probably going to get you thrown out at the very least if not having the cops called on you.
This guide focuses exclusively on what the guy should "do" which, without a similar guide on how to know how and when to "do" those things, will lead to bad out comes if not sexual assault. It's written from the perspective of an instruction manual for a video game/passive object (the girl), which is a lot of what misogyny is all about, do A then B then C and you save the princess.