Using dare as a full verb followed by a to-infinitive is the form you will most commonly see and hear, and it is always correct. The to is sometimes dropped by some people in conversation, but it should be there in the written form.
Your first example sounds very strange on its own for two reasons.
1. modal dare is rare, as I said above.
2. dare is far more common in negatives and questions than in affirmative statements. You might well hear: I wonder if I dare make a statement (an indirect question.
Your second example is less unlikely than your first, but still a little unusual, because it is affirmative.
Student or Learner