I can totally, totally relate to where you're coming from. I used to write as a kid and after constant criticism about it from my parents (about everything from the content and style of my stories to my "wasting time" when I actually sat down to write) I basically gave up and stopped writing for a decade, focused on school and building a career that would pay the rent.
Now a decade later, I'm unhappy with the rent-paying career I've spent years trying to get to, and I'm beginning to discover again that writing is pretty much the thing I'm best designed to do. Now I feel so jealous about how I wasted that last decade on a dead-end that hasn't helped me as a writer. I wish I'd used that time to develop as a writer, to read more, and to maintain my habits of writing. I have a hard time getting back into writing because my brain has stopped generating ideas for me.
Here's what has helped me. I knew I wanted to start taking some writing classes, because (like many Aspies, I believe) I don't always learn things intuitively - I like to learn "rules" for things. Even if I choose not to follow those rules, at least I understand why things tend to work or not work. But the first workshop I took, I found the teacher intimidating and it blocked me from writing. When I did workshop a story, it was always something last-minute that I wasn't happy with, because then I could justify that they weren't criticising me, they were just criticizing this crappy work that I did at the last minute. My teacher could tell I was really hostile to any criticism, so the feedback I did get was pretty useless...
After my first bad workshop experience I vowed to never take another workshop again. But then I signed up for an online workshop at Gotham (
www.writingclasses.com). I figured if I could eliminate the anxiety of being in the same room as my classmates, worrying about body language, practicing my neutral facial expression and trying not to look upset by criticism, etc etc, I could focus on the actual craft itself. Their intro fiction course was really helpful for me, because I got regular practice with weekly assignments, and I got to learn how to criticize other peoples work, which helped me learn to criticize my own work. They also taught us how to give a good critique (start with the positive, give one thing that could be improved, and end with another positive comment). I was terrified to read the criticism about the stories I posted, but I found the experience wasn't so bad. The critiques were typed out on the page, so I could focus on what they had written, rather than trying to figure out their body language or trying to worry about what my face was saying. Also, having the critiques written on the page meant I could re-read them a few times. The first time I hear criticism I tend to focus on the negative parts. So if this was an in-person critique I would probably only hear the negative. But being able to re-read the crits meant I could read and accept the negative stuff, and then just bask in the compliments.

Now that I've developed my craft and gotten more accepting of the process of criticism, I've started taking live, in-person writing workshops. I'm much happier with these classes and get much more out of them than I did with that first disappointing workshop!
If you can afford it, writing workshop classes are a great way to (1) get personalized feedback about your writing in order to improve your skills, (2) learn how to accept constructive criticism (not to mention learn how to recognize criticism that is illogical or based on emotions like jealousy or anger, so that you can reject those words if they don't fit with who you know you are), (3) maybe find some writing buddies to share work with and talk about writing. You can also achieve these things for free on websites like this one, or by finding an informal writing group online or in your city, but I found that writing classes provided a more formal context in which to learn the craft. When you're in a class with other people at your level you can start to appreciate your unique strengths as a writer. You might not feel so bad that you don't yet write like Stephen King - because you can witness over the duration of a course that people do improve as writers. (Do you think Stephen King was born writing like Stephen King? Even if you pick up his short story collection, Skeleton Crew, you can see a definite improvement of his writing from when he was a college student to where he is now).
When I look back over the stuff I wrote for my first and second writing classes, there is a huge, huge improvement. My style has developed. My ability to handle criticism (both related to writing and otherwise) has improved. My circle of friends who write has expanded from zero to about three very close writing friends, plus several others who know my writing and are only an email away. My writing habits and my confidence in my skills could still stand to be improved, so this is why I keep taking classes. But comparing where I was before the classes started to where I am now, I'm fairly confident those things can only improve with time.