First, allergic reactions to insect stings can be a very serious matter.

Thankfully, only a small percentage of the population suffers serious reactions from insect stings. See article by Thor Leehnert, Hymenopterous Insect Stings, at http://maarec.cas.psu.edu/bkDC/HBBiology/insect_sting.htm.  Of those who experience an allergic reaction, most are caused by yellowjacket stings, not honey bee stings. The Hive and the Honey Bee, pg. 1211.

Those who have an allergic reaction to any type of an insect sting should talk to an allergist about venom immunotherapy, an effective vaccination program that can prevent future allergic reactions to insect stings.

If you do have an allergy to bees, you only need to exercise a little caution. If you are in an area where bees are foraging, wear a hat so that a wayward bee does not get caught in your hair. They instinctively burrow down when they get caught in hair as most of their natural predators are hairy critters like skunks, bears, raccoons, and other mammals. Also, wear closed shoes and tuck in your cloths. A foraging bee will only sting as a protective response to being crushed or caught.

If a bee feels threatened by you, it will generally come by and bump you on the head. This is not a mistake, it is a warning that you are likely near its home. If this happens, do not make fast movements like swinging your arms. Bees respond to quick movements. Simply walk the other direction and the honeybee will leave you alone.

Again, allergic reactions to insect stings can be a very serious matter.  Know your allergy, know your symptoms, and speak with your physician about controlling the allergy.  But don't let ignorance unnecessarily scare you away from these interesting and beneficial creatures.