Yeah you can, but you won't unless you give yourself a reason to. An outgoing personality is a trait people adopt as a result of being around other people a lot and having to deal with the issues that entails. In my experience you don't develop the personality before you receive the stimulus to develop that personality. If you place yourself around people often your personality will change to make the experience easier with little to no conscious effort on your part. It may take a long time, but it will happen. Self-confidence and self-esteem are entwined with each other and usually deeply dependent on other people's observed reactions to you, so solving the personality issue will go a great deal toward those aims as well. The rest can be handled by tackling both day-to-day and uncommon problems as they occur and reliably surmounting them. That means you should be doing all the things you've put off because you weren't sure of your capability to finish them, not just things that have to do with other people.
I am no expert by any means, but I've noticed many positive changes in my own personality since taking up work that requires me to deal with customers on a daily basis and do it well. So what I'm telling you is a result of what I've seen in myself. The crucial issue is that you do things and succeed at them. That is, or should be, the bedrock of all confidence and self-esteem IMO.
