He is/ was afraid of hurting her feelings.

解析：be afraid of doing sth 害怕而不愿意做某事，出于一种关心对方。

He is afraid of waking the sleeping baby.

他怕吵醒正在睡觉的婴儿。

He is/ was afraid to hurt her feelings.

解析：be afraid to do sth害怕而不敢做某事，出于一种恐惧不敢。

He is afraid to go out alone at night

他不敢晚上独自外出。