The trick is to make failure quick and low stakes, make it fun.
Ask questions often, make EVERY student get a question wrong. Ask trick questions that subvert expectations, ask open ended questions.
Make mistakes yourself! Show students the wrong way of doing things, then-
unfortunately i very much feel affirming to students that being asked a question in class is anxiety-inducing and is something that it's valid to opt out of only makes them far more anxious in the long term