Expressing Oneself as a writer

I've always wanted to become a writer but one thing that frustrates me to no end is the difficulty to express myself. I often express myself badly or have the inability to express things in a clear or vivid way and I fear that this is coming across in my writing. I read other authors and the way they express scenes, character’s physical appearances or actions, movements, etc so clearly, vividly, and freely and I feel like I can’t convey these things the way they can. It’s very crippling for someone who loves stories and the need to write them. I don’t know if much of this is due to a lack of confidence and perfectionism, ultimately the fear of not making sense, that are preventing me from expressing myself with abandon both aloud and in my writing. I don’t have a command of language as I would like and I fear that reading alone won’t help this problem. It’s very depressing and I don’t know what to do. Please help me!