Not sure if this would work with being scared of people, but ever since Joel was a baby I taught him "check it out," which just mean go touch whatever it is.
Things like a vacuum or something that makes a loud noise, or even a person,lol.
Now he's barely scared of anything and if it looks like he's about to get scared I say check it out, and I can instantly see his facial expression change from "scared" to "ok, go touch it!" and then lots of praise when he touches it
That might work for your little guy
