Can you guys help me be able to ask questions?

Okay well this seems really stupid since I’m asking a question right now…But I mean I need help asking questions to teachers and to my sister or mom…I’m just shy to ask, plus when ever I ask I feel like an idiot when I do, makes me feel less…intelligent… I wish I could ask, I just never have the courage or self-esteem I guess…Can you please help me with this?