In contrast to pressure distributions that can, nowadays, easily be measured using commercial sensor sheets, this is not yet the case for frictional or shear stresses. Those stresses act parallel to a surface, which makes it more challenging to develop suitable sensors. A number of shear sensor prototypes have been reported until now, but realizing a matrix of shear sensors remains a big challenge because of cost and complexity issues. Therefore, this article presents a fabrication approach for realizing a matrix of shear sensors using standard PCB and molding technologies. The presented sensor is based on changing the coupling of optical power between a light-emitting diode and a set of photodiodes in combination with an overmolding step, as realizing a mechanical transducer. To demonstrate the fabrication flow, a first demonstrator incorporating a five-taxel sensor matrix has been realized, which is able to record the in-plane shear stress magnitude and direction.