How would I find out if my voice is good or not?

I enjoy singing. It’s fun. No one in my family can really carry a tune in a bucket, though, so I’ve always assumed my voice is horrible, like theirs.
I’m homeschooled, so my music education has always been limited to my mom’s knowledge (not much) and the classes I was involved in with other homeschool families. I know music theory and play the piano, but I’ve never really done much voice. The few times I have been in a voice class, I’ve caught on fairly easily and no one has pointed out that I’m flat or off-key or too high or low or anything. I’ve only sung in groups, but a few times, people have commented that I have a nice voice. I don’t really know if they meant it, though. Lately, I’ve been wondering about this.

So, how would I find out if I have a good voice? Are there resources on the internet? I’d like to have a good understanding of where I stand before I start taking college classes this fall (my state has dual enrollment, so you can take college classes for free in the last two years of high school). If possible, I’d like to take this opportunity and really learn to sing! But first I want to know I won’t make a fool of myself.

Thanks for any suggestions you might have!