I used to hate it, and I still sort of do, but it's not as bad anymore.
Growing up, I would dread the days when we had to present in front of the class or read some number of pages aloud from a book in English class. I think all of this fear came from having a speech impediment, feeling dumb/ashamed about it, and not being about to get out of my own head. I'd always get that sick feeling in the pit of my stomach, and my body would just turn cold. Still happens.
I've gotten a bit better over the years. Some of it comes from simply not caring anymore - we're all adults now, and there's nothing to be ashamed about.
I've found that when I know what I'm talking about and can speak directly from my mind rather than needing to plan ahead (when I'm showing off work that I've done to a small group, for instance), everything flows pretty well and I enjoy it. I like when people ask me questions and there's some engagement, as it tends to lighten the mood and not really put me on the spot as the only person speaking - it turns into more of a discussion rather than a presentation where everybody is focused on me. Everybody remaining quiet scares me into thinking that I'm either not making sense or they're simply not interested.
I recently gave a talk at work to our team about new development work I've been doing, which was/is a huge task but will become an incredibly useful tool. I felt comfortable the entire time since I was talking to like-minded people. One of the team members tried to trip me up with "tough" questions, but I had a different team member come to me after the meeting to tell me how well I handled it because, well, I know exactly what I'm doing.