I would like to masturbate with her. Is this a good idea? Is it okay to ask her? What if she says no?
Well, you can always just start telling her about your masturbation habits and hope she volunteers to divulge her "secret." If she doesn't say anything at that point, it might be a good time to ask. Other than just talking about it, I don't think it is possible to find out without invading her privacy.
The great thing about mutual masturbation is it means you can explore each other's sexuality without going "all the way" to intercourse, which is great if you aren't quite ready for it yet.
What do you think about when you masturbate or have sex? Would you tell your significant other if they asked?
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