Yes. And you're going to receive a lot of quick tips here but honestly it takes years. People with low self esteem have a few things. They have a low level of assertiveness in their personality, a few beliefs about themselves, a few beliefs about how the world is or should be, and some automatic reactions they have built up. Developing higher self-esteem requires a lot of work. You have to fundamentally change the way you see yourself and how you understand the dynamics of the world around you. You have to practice building assertiveness which requires you to go through a lot of discomfort. And you have to learn to recognize and overrule the automatic reactions and thoughts that cause you to act in ways that further entrench your low self-esteem.
Don't look at the comments here for quick advice. Read books on cognitive behavioral therapy or acceptance commitment therapy. The Confidence Gap is one that I particularly enjoyed, but there are plenty. Try to avoid any that are a little bit overly self-helpy and be ready for at least a few months of difficult work.