How to start dating at 21

Next week I'll (male) be turning 21 and I've never went out on a date (or done the things that can follow from one).
A big reason for this was I never even interested in a relationship or anything intimate until a year ago - I'm probably quite sexually immature, I had a sheltered upbringing (not socialising much) and you probably won't believe this, but I've never really watched porn and I've never masturbated. Not being desensitised to intimacy might help, but at the same time I'm totally inexperienced and would be a bit afraid of it.
During that time, I had a few occasions when girls have asked me out, but I declined at the time (which I'm beginning to regret).

Only really in the past year have I started to feel lonely, as virtually all of my friends who were previously in the same boat as me have gotten into relationships. It's got to the point where I've felt very depressed and lost all self-esteem (never had much to begin with), even though I've never actually tried to talk to girls before or to put myself out there, which I know is absurd.

I'd like to actually try and start a relationship/date but one the primary issues I have are I wouldn't really be good at recognising cues, I feel women are very subtle which does not help me at all given my inexperience. I also feel that I won't have very many opportunities to naturally interact with people given I am graduating from university very soon, and I get the feeling you'll say dating apps aren't a good idea.
I'm also not very good at texting, I'd be much better meeting someone in person and speaking to them, maybe with a bit of Dutch courage.
This is also not to mention whether my lack of experience may become apparent and/or off putting to woman at my age, but I hope it isn't

Any advice? Especially in regards to what settings are good for finding people