Fearlessness is not the absence of fear. It's the mastery of fear. It's about getting up one more time than we fall down.
But you have to do what you dream of doing even while you're afraid.
Fearlessness is like a muscle. I know from my own life that the more I exercise it the more natural it becomes to not let my fears run me.
The more we refuse to buy into our inner critics - and our external ones too - the easier it will get to have confidence in our choices, and to feel comfortable with who we are.