I think the only way to do this is to do some simulation exercises and games, followed by personal interaction & reflections.

Please check the reference as below:

Kundu, S. C. and Rani, S. (2007) “Human resources’ self-esteem across gender and categories: a study”, Industrial Management and Data Systems (IMDS), Vol. 107, No. 9, pp. 1366-1390. Available at www.emeraldinsight.com/imds

Article Human resources' self-esteem across gender and categories: A study

At the outset we should not view ,considered our failure of Self Esteem .We have our own identity our own standing where we should not place our self in a downward trend.If we have come across fear of failure have self esteem without losing our disturbance of our mind & brain sit calm &quietly manner for half n hours carrying out our introspection & with our firm faith & will power we have to get rid of such problem we should not disturb our own entity .

This is my personal opinion

Following

@Rohit M Parikh i am actually working on the entrepreneurship and one of the variables in my research is fear of failure. i haven't came across a scale which measure the affect of fear of failure on self esteem but i have found a scale just to measure the self esteem which is of Rosenberg Self-Esteem Scale (SES) which is not of my use . the way u have mentioned is not easy for gathering the data

@subhash C. kundu i will look into it . thank you

You can use the Rosenberg scale together with this:

Conroy DE, Willow JP, Metzler JN. Multidimensional fear of failure measurement: the performance failure appraisal inventory. J Appl Sport Psychol. 2002;14:76–90.

yes got my hands on that scale . Thank you @Beatrice Marianne Ewalds-Kvist