All I can say is be the best person you can be.

You say you lack confidence? Why? What's missing in your life? Why aren't you comfortable with your direction?

Be a little ambitious and brave. You have few chances in this world and you have to take them. Do you seriously want to play it safe all your life?

I'm say you may get rejected and embarass yourself you say. I'll tell you this now: if you don't get the balls to do it now, you'll never do it with any other chick you have strong feelings for. What can't kill you only makes you stronger.

So my friend, follow your heart, and don't look back.