A series of remarkable results - not least home and away to Racing Metro and the quarter-final defeat of four-time champions Toulouse - have taken Edinburgh to within 80 minutes of the May 19 final at Twickenham.
Asked for his stand-out moment thus far, Cross said: "Away at Racing Metro, Phil Godman putting a last-play drop goal over and the guys just going absolutely nuts. It's great to see that sort of emotion and joy.
"It's good to see a squad working together for a common goal and achieving and we're looking to continue to do that against a very strong Ulster team."
Ulster will be without New Zealand international tighthead John Afoa after the prop was banned for a tip tackle during their quarter-final success over Munster.
Even without the All Black, Cross anticipates a physical confrontation from the Irish province.
The Scotland tighthead added: "We've been preparing with an idea in mind that Ulster will find a solution there. They've got a strong squad and a lot of competent players.
"We have no doubt they'll come with a very powerful pack, albeit minus John Afoa.
"The gain line and forward momentum will win or lose this game.
"Ulster are a very large, physical, momentum-based team and if you can stop that momentum, you can create opportunities from that to make space and score against them."
Cross was one of nine Edinburgh players involved in Scotland's 32-14 RBS 6 Nations loss to Ireland at the Aviva Stadium in March and is eager to wipe the game from his memory.
He said: "It's an opportunity to change those memories. We're looking to change them."
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