I listen to traffic. When it is safe to cross, I tell Cricket, Forward. She checks both ways and if it is not safe, she will intelligently disobey. If it is safe, she proceeds.
We celebrate at the other side with a good girl, sometimes a kibble. Cricket likes a gentle stroke near her ears. Cricket has crossed simple, quiet streets as well as extremely busy streets in New York and California. She is a busy girl during a street crossing -- focusing on the other side of the street to get us safely there and watching for cars turning that may not see us, upon which she would pull us back if necessary. This is rare, but when she needs to pull us back it it an amazing experience and cause for much praise and kibble when we are safely out of the street.