alt Hacker NewsBuild up with small challenges. Not sure how old your daughter is, but, for example, our 7 year got a gift card. They wanted to know how much it was worth -- so they were the ones who had to go up to the counter to ask the employee. Just practicing going into uncomfortable or unfamiliar situations is valuable, and leads to confidence for the bigger stuff.
My parents did this exact thing to me growing up and I hated it at the time. I now see how valuable it was and will doing the same with my kids.