He is a bold and decisive person. He doesn't shilly-shally about.

be uncertain, be indecisive, vacillate, waver, falter, dither, shilly-shally, pause, dilly-dally, dawdle, delay, be unwilling, hang back, think twice, scruple, have qualms, be reluctant

Some synonyms for hesitant include:

chary, halting, indecisive, irresolute, loath, pendulous, reluctant, shilly-shally, shy, skeptical, tentative, timid, uncertain, unsure, vacillant, vacillatory, waiting, wavering.

"Shilly" is a colloquial term that means to be indecisive or hesitant in making a decision or taking action. It is often used to describe someone who is wishy-washy or unsure.