If you already know the woman, and y'all both want "dessert", there is no problem. But then, there would be no problem with having one over and cooking a neat meal, and if she likes the kitchen, she can help, and y'all can visit/talk, etc. during food preparation. I thought you were asking about meeting someone new, and even meeting halfway, if she lived far.
I'm not making a judgement call on if you "should or shouldn't" have dessert, but if you don't know her, a fancy or expensive place might make her uncomfortable. That's all that I am saying. Might not be something a guy would consider.
I guess that I am not being very helpful.