You can also use the 'wir' form, but invert the subject and verb. This is extremely common in addition the two options above. Examples: Gehen wir ins Kino. Sehen wir einen Film an. Kochen wir Frühstück. You can also add "mal" after the subject and verb to add a flavor of politeness to the suggestion. Gehen wir mal ins Kino. Las uns mal ins Kino gehen. Was hältst du davon, mal ins Kino zu gehen. This is a bit colloquial, but very common.

I would say for example "Lass uns, (ins Kino gehen)" or "Was hältst du davon, (ins Kino zu gehen?)".