I am now one of those people who, given time to prepare a speech, or being asked to present a speech or story I've told many times before, absolutely love to do so. I love it. To me it is now one of life's pleasures. For example, this year I am looking forward to speaking for forty-five minutes to an audience of 700 people. Over the past 30 years I've probably given a thousand presentations and spoken before 45,000 people.
It was not always the case. The first time I had to present a speech I was terrified. Spoiled not only that day for me but quite a few leading up to it. Then I joined a Toastmaster Club. Yes, I was still frightened to the point it took me twenty minutes to get out of my car and walk the short distance to the venue.
But then came the encouragement, the positive feedback and the mentoring for those who had been through what I was now experiencing.
The point I make is this. Take the risk! Keep taking it! Keep on going until one day you realize that, although you might be a little nervous at the very beginning of that presentation (this is common even with experienced speakers) you are now proud of what you can do. Then keep on keeping on.
Every now and again you will sort of take a 'quantum leap' in improvement. One does not always rise steadily, but plateus for a while, then another quick rise, then another plateau. Then up you go again. It is like any skill. Application, practice, that is what is required. And then one day you, too, will look forward to the opportunity to speak in front of others.