First, you'll want to prepare. That doesn't mean you have to memorize your speech, but it should be rehearsed.
Second, try to be natural and comfortable with your audience. Picture them in front of you. If possible, keep it conversational so it feels as if you are talking right to your live audience. An outline helps you do this.
Third, if you have folks who are willing to listen to you live, practice with them first. You will see where they are confused, amused, bored, lost. If live humans aren't available, find some digital participants via Zoom. Make sure you use gallery view so you can see their reactions.
Lastly, pick a few things on the walls behind the camera and treat them like audience members. Give each of them some of your attention as you speak.