I mean that literally but also figuratively. My main instrument is guitar, and I've written a bit of singer/songwriter material, but I couldn't fathom playing any of it in front of people. Live performances terrified me, but in college a friend asked me to play bass in his band, and I went for it. It turns out this was the best introduction to playing on a stage. I got to just hang out with the drummer, focus on rhythm, and just assume nobody was paying attention to me because all of the showmanship was happening up front. From there, I played bass in other bands and got more comfortable with performing and started chipping in on harmonies. Eventually I'd step up to sing a cover or two on guitar (which seemed less intimidating because it wasn't original material). Last year was what I'd consider the first real solo set I played. It was a long road to get there, but I'm proud of it. If it's something you really want to do, there's a way to get there.
So if playing literal bass is a possibility for you, try starting there! I don't know what that looks like for other mediums, but basically: hang back, get into the groove, and someday you'll step in front of the mic. Maybe for podcasting, that means being a guest on other podcasts, maybe for poetry it's immersing yourself in that world and helping emcee an event to get used to being at the front of the stage. I think it's mainly a matter of slowly training your brain to not go into fight or flight mode.
Other things to consider:
Start small - Try in front of a couple friends first and work up from there
Find your people - It's way easier to do the thing when you don't feel judged or rushed
Practice the hell out of whatever it is you're doing - So even if your mind starts to panic in the moment, your muscle memory can carry through it without getting tripped up too much
The universe is chaos - Nobody will remember the mistakes that feel huge in the moment, but they're totally insignificant and can even be charming/funny