How do people that struggle with dating meet someone?

Not sure if this is the right question to ask. I'm 23m and my dating life is non existent. I have never been on a date before. The closest I have ever been to any type of relationship was with a girl in college. We met on YikYak of all places. One night she posted and I dropped my Snapchat and we started talking. Over the next few months we would hang out and spend time together mostly on the weekends. I thought she liked me, but I am convinced now she was using me because I had connections for parties and was one of her few friends that was also 21 at the time so we would go to the campus pub together. It got to the point where we were holding hands but nothing more than that. When I tried to ask her on a more formal date she put me down. I have tried asking out women I know and liked, using dating apps or meeting women at bars. Nothing has worked for me. I am a decent looking guy who works out has career goals and ambitions. I am finishing my master's degree and interning at a state government agency currently. My one issue is that I'm a bit shy and introverted. Sometimes I think to myself that woman is cute I should talk to her, but then I just don't. I am just curious what you have done so I can learn or change up my game.