In addition to the good answers above, I would like to add the following.
The opinion of others who are qualified musically concerning your voice is very important. Seek out a voice teacher. Even the best singers in the world have both a voice teacher and a vocal coach. The voice teacher teaches the person how to utilise their instrument the best as they get older and their body changes shape, and the vocal coach teaches them how to interpret the music so that it is most pleasing to the audience and true to what the composer wanted.
Fear of performing in front of people just takes practice. I would suggest taking the suggestions above to heart. Also, practice singing in front of a group of kids or maybe volunteer to sing in front of people at a nursing home. Either audience will be very receptive to you and also forgiving if you mess up.
If you are church oriented or not, the following link may have some information on it that will be of encouragement and help to you.
https://www.askmehelpdesk.com/music/...ced-99170.html
From the link above:
Two key words here to consider. They would be practice and exposure.
Find a good, Christian voice teacher and study with them. Get together with the music person who is a keyboardist of some kind at a church and see if they would be willing to accompany you.
Volunteer to sing for churches as a soloist until you get good enough and recognized and then charge small fees for your services.
When you are good enough, put ads out that you are available to sing for Christian weddings. You could definitely charge for your services then.
Find a group of people who are music instrumentalists who are also interested in Christian music, and form a band together. Advertise to play for events - coffee houses, youth gatherings, church services, etc.
Try to write some original lyrics and music with someone.
Be careful when making money using copyrighted songs as you may be infringing upon someone's copyright.
When you have enough money and are really good at what you are doing, cut a CD and market it.
Submit recorded material to a record label. Hopefully, they will accept you. Then you will be able to get your music out there.
See if a local, Christian radio station might play some of your recorded material. I know a person who has done this.
Just a few ideas.