Many believers have shared with me that they lack boldness. They've asked me to pray for them for boldness because they truly do have a heart to share the gospel with the lost. Indeed, we can ask God for this because the scripture tells us we can. Acts 4:29 says that the disciples prayed and asked for boldness. Their prayer was answered and they got boldness. However, there's a qualifier to this. If you go back to Acts 4:13, you'll see that it takes more than just asking for boldness. You need to spend time with Jesus. Faith without works is dead.
Acts 4:13 shows us this truth.
When they saw the courage of Peter and John and realized that they were unschooled, ordinary men, they were astonished and they took note that these men had been with Jesus. - Acts 4:13