We present a lattice-QCD calculation of the B → π ν semileptonic form factors and a new determination of the CKM matrix element |V ub |. We use the MILC asqtad 2+1-flavor lattice configurations at four lattice spacings and light-quark masses down to 1/20 of the physical strange-quark mass. We extrapolate the lattice form factors to the continuum using staggered chiral perturbation theory in the hard-pion and SU(2) limits. We employ a model-independent z parameterization to extrapolate our lattice form factors from large-recoil momentum to the full kinematic range. We introduce a new functional method to propagate information from the chiral-continuum extrapolation to the z expansion. We present our results together with a complete systematic error budget, including a covariance matrix to enable the combination of our form factors with other lattice-QCD and experimental results. To obtain |V ub |, we simultaneously fit the experimental data for the B → π ν differential decay rate obtained by the BaBar and Belle collaborations together with our lattice form-factor results. We find |V ub | = (3.72 ± 0.16) × 10 −3 where the error is from the combined fit to lattice plus experiments and includes all sources of uncertainty. Our form-factor results bring the QCD error on |V ub | to the same level as the experimental error. We also provide results for the B → π ν vector and scalar form factors obtained from the combined lattice and experiment fit, which are more precisely-determined than from our lattice-QCD calculation alone. These results can be used in other phenomenological applications and to test other approaches to QCD.