Looking for relationship advice

Ok, the title is a little misleading perhaps. I'm not in a relationship at the moment. What I'm looking for is advice on whether I should pursue a relationship or not.

Here's a basic breakdown of the facts/situation:

I am 21 years old.

The girl I like is 16 years old. (and everyone jumps up and says "hold it! she's jailbait! stay away!")

She and I are good friends, I do not have any confirmation she likes me as more than a friend, but she has never done anything to make me question the possibility.

Her dad, who is a pastor at our church, literally approached me and asked me if I liked his daughter, and when I told him that I did, he was pretty happy. I mentioned that its a little awkward because of the age gap, and he said that he and his wife understood and were okay with it. (his wife has been dropping hints that I would make a great son in law for some time) I then brought up the fact that it'd be a while before we could date, and he said "not really, you have my permission to date as soon as you'd like."

What should I do??? Proverbs says that "many advisers make plans succeed" so I am looking for as much advice as possible.
I can clarify some things later on if people would like. She is the most mature 16 year old I have ever met, oldest of 5 kids, teaches sunday school, more deeply involved in politics than just about any adults I know, works 3 part time jobs, and is pursuing her relationship with Jesus wholeheartedly.

I am with everyone that jumps up. I think in 2 years you will be 23 and she will be 18. So keep it friendship and don't get out in front of God no matter what mom and dad says. Mom and dad did not write the laws concerning matters such as this and they can't give you permission to break them.

God bless

__________________
Living John 8:36
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Receiving the spirit of God is a miracle, it's a gift given to those that have been allowed to see their lost condition and they cry out to the Lord: Romans 10:9 If you declare with your mouth, “Jesus is Lord,” and believe in your heart that God raised him from the dead, you will be saved. 10 For it is with your heart that you believe and are justified, and it is with your mouth that you profess your faith and are saved.

Thank you (The O.P.)