I 21M said something inappropriate to my friend 21F.

Today I 21M was with my female 21F friend. I have always been very respectful to her and never intended to hurt her in any way, but today, in the evening, something happened. I was sitting with her and some other female friends, and we were talking casually when she began teasing me in a playful manner. While joking, she said to another friend that I am a very bitter guy (I can’t give you the whole context). Hearing this, I replied, “When did you taste me?” However, I instantly realized that I had said it in the wrong way and that it unintentionally carried an “adult” undertone. I hope you understand what I mean.

The moment became awkward. She made a very uncomfortable face, called my comment lame, and we couldn’t talk directly to each other afterward—I couldn’t even look her in the eye while speaking. Now I am overthinking a lot. I have never mistreated a girl, and I deeply regret whatever I unintentionally said; I meant something else.

One more thing: She is the reason I started going out more, laughing, talking to people, and feeling motivated to work on my dream again. She helped me come out of my emotional trauma, and she doesn’t even know it. We were getting to know each other better, and I like her somewhat, but now I think my chances are zero.

Should I ask her if she really felt awkward or bad? What can I do to make things right?

TL; DR - said something inappropriate unknowingly to my female friend and regretting it.