We're in the same boat shyness wise, trust me... you kinda have to throw yourself in and it seems to get better over time. We take comfort in knowing that the vast majority of people on YT will never meet us and if they judge us, so what!?! We decided to make videos for our own enjoyment, to spend time with our daughter and build her self confidence and if others enjoy the videos that's fantastic. For any meanies who will undoubtedly post comments to discourage us we will do our best to ignore them and cherish those who post nice comments or at least constructive ones. We haven't had many nasty ones yet, but our channel is still very small. As it grows it will probably attract some trolls but hopefully we won't be discouraged by them.
As for shyness in the real world; facing shyness on YT is a great way to build confidence which will no doubt rub off in your real life interactions with people too. I consider YT to be the most effective anti-shyness bootcamp around. Good luck with your channel and personal growth!