How To Be Fearless
The secret is nobody is actually fearless. No one can ever get rid of fear, but you can change your relationship towards fear. You can learn from fear, be grateful to fear, even love fear.
I was never a person to push away or distract myself from negative feelings. That's fortunate because running away from fear actually makes it stronger. Even before I discovered meditation, as a teenager I wouldn't push fear away, but instead let myself reflect on traumatic things people said or did to me. Years later, I found out that my little reflection sessions might have had the effects of mindfulness meditation, where I processed my fear so it didn't control me.
For about 5 years now, I've done RAIN meditation where I spend twenty minutes to an hour a day opening myself up to negative feelings and experiences in my past. And recently I've experimented with more techniques like Wim Hof Breathing and Cold Therapy. All these techniques deliberately place your mind and body into a state of fear, to confront fear so you learn to deal with it, to bend so you won't break. So when traumatic things happen in life (like in my case: being hated by thousands of people or being sent to prison), I can handle the situation. The fear isn't that big a deal because well... I've literally been experiencing it every day of my life. It's like how do you stop feeling uncomfortable in cold weather? You go out naked in the snow until you get use to it.
So yes, the people who seem fearless do have fear. In fact, they probably experience more fear than anyone else. I feel fear every day, but it hasn't stopped me from making all the best decisions of my life (like dropping out of school, defending pedophiles, protesting against the Singapore government and being sent to prison a million times). It's alright to be afraid, so long as it doesn't decide your actions in life. In fact, if you're not doing something scary, you're probably not living up to your fullest potential, you're probably not doing what God wants you to do.