but if I'm gonna do it, I know I gotta belt it out regardless. Be not afraid
Indeed, but bear in mind confidence is not quite the same thing as volume! Over-singing is a bit like over-playing on djembe - it makes you tense up and in the case of singing, usually makes you very flat. The trick is to keep your jaw relaxed and your throat open.
Seriously - everyone can sing but it does take practice. Your voice is an instrument and you need to learn how to use it. Community choirs are great for this as you can hide amogst the other voices.
Like I said, I'm not a great singer but one of my students is a singing teacher so she helps me a bit, mostly with confidence!