if you don't want it to be weird, you should just put it out there at the club.
i used to work at a strip joint and from personal experience i know you should just ask the girl if she would come over and dance for you in private. 99% of the time she won't do it if she doesn't already like your personality (aka trust you somewhat). however, if you have talked to her and are looking to get her out of the club to your place so you can feel more comfortable with her dancing up on you, then you'll have to put in some work in getting in some actual conversation with her. just remember, strippers are not prostitutes, they're just college girls with a whole mess of self esteem issues
side note: if you're trying to have sex with her, then ask her if she would for this amount of money, if she's that kind of girl then she will tell you yes or no, and if she's not then she'll let you know in a hurry