Yes. Be direct and honest about what you want, and what you have to offer.
If you come out with "I just want to have some fun, safe sex 2-3 times a month and enjoy each other's bodies", you may just get your wish.
If you come at her with "I want to be a part of your life, and help raise your teenage kids, and deal with your work struggles and internal issues", you may be looking at a very complex mess.
Be direct, be flexible, and offer her ZERO drama.