Decontextualised, the words can read rather differently:
Yes, you want her,
Look at her, you know you do,
Possible she wants you too,
There is one way to ask her.
It don't take a word,
Not a single word,
Go on and kiss the girl
Take away the narrative as we know it and you’re left with lyrics that seem to be encouraging someone to kiss a girl without seeking her consent or knowing for certain that she would reciprocate. This would be an uncharitable interpretation that ignores the circumstances of the scene, but I can certainly see why such words may not resonate so innocently among today’s young people.