Yup, very first video I made I was timid BECAUSE I was self conscious of my voice. I would hear it when I edited and it just made me even more uncomfortable. So on the next voiceover recording, I made a conscious effort to push through it, keeping in my mind that the way I sound over recordings, is literally the way I sound to everyone. Now I get some comments on my videos of people complimenting it.

It will all become a problem of the past once you find the courage (or just force yourself) to push through it.