It can be tough... I have a lot of experience on camera and am very comfortable as a public speaker as well. That having been said I still shy way from talking on camera, particularly when i am around other people. The key for you and
@Dina_ Di to focus on should be simply filming as much as you can.
We have a saying in the hunting/fishing industry... in order to be good at something you gotta be 'knee deep in shells.' For YouTube creators I would rephrase this as being 'knee deep in videos.' You just gotta do it until it becomes common for you. Make lots of videos. Film yourself until you've done it so many times that it isn't as embarassing any more.
In the beginning few days and weeks it will be cringey. You gotta do it any way. Suffer through the cringe in order to improve. It is far better to do so with the smaller audience that you currently have than it is to try and start talking on camera when you have 10,000 subscribers.