Hi Jane! They are the same thing but one is used for the continuous form. For example: "I was too afraid to skydive with my friends last summer." "I'm afraid of traveling alone."

One is a question, the other is you answering the question. What would you be afraid to do? I would be afraid of doing dangerous things like skydiving or swimming with sharks! To be afraid to do implies the activity or thing may not be scary, but it worries you or scares you To be afraid of doing implies you are scared of doing something