Why do people love my singing voice?

I used to be in a couple bands when I was in junior high and high school (never played shows, just jammed mostly) and I had what many considered to be the best voice in the world (not my words). It's been a while and now to me my singing sounds like utter ****. I'm now 19 years old and my voice sounds horrid to me. But here's the thing, everyone else still loves my voice. Even the harshest of critics and the old choir kids tell me my voice is great. I now only sing when I'm cuddling with my girlfriend to make her smile. She loves me to death for doing this for her (I even made her cry a few times because of some of the songs, but don't tell her I said that). I'm thinking about getting another band started, but I can't get over my voice. I hear every crack and every off pitch squeal that my voice lets out, but nobody else really seems to notice. Should I consider singing again if everyone else loves my voice, but I can't find a satisfying medium in it? I love performing, I really do (I have played acoustic with a few guitarists I know for about 30 people max, despite never having played a show with an actual band). Is this just a psychological issue? Should I treat my voice with something? What should I do?