Steven, so sorry about the delay. It has been crazy today. You should NOT be afraid to apply. There is no criminal penalty and all that can happen is simply that they say no. While there is no immigrant waiver available to you for such a crime, there is a non-immigrant waiver available to you if you just want to visit. Apply now and get it out of the way and if you fail, apply again. There is no penalty.
First, you would have to file for a B-2 visa which can be found here:
And you would need a 212(d)(3) waiver which can either be done by the immigration officer at the interview or after just on their computer (take a look at this link):
or on form I-192 which can be found at www.uscis.gov/forms. You can find more information here:
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