I also know there are a lot of dad's out there who aren't. I hear the frustration of their wife's in online forums. I wish I knew how to help get them involved as I suspect they are missing out on a lot of the fun in their kids lives.
"No Fear" is a stupid slogan, of course you have fears - deal with'm.
I can pour 3/4 of a cup of cereal by eye. Dead on. I have had to proved it a number of times to the kids and to mom. I am a good cook but I never measure anything. Making me use a measuring cup will piss me off. Measuring and scales work great for some folks - God bless'm, It ain't me. YDMV.
Guys - Step Up.
In point of fact there isn't anything magic here. You're on a team, you are a guy, you know that means ya gotta pull your weight. Fatherhood is about blocking and tackling not 85 yard glory pass plays. Get in there and do it. It isn't the glory of super hero work - there is an adventure in that the day to day work slogging it out in the trenches, be a part of it.
YDMV - I would love to hear from other dads.