"Joining In! A Program for Teaching Social Skills" by Linda Murdock & G.S. Khalsa.
This is a video/DVD series with teaching manual that was described by my 8 yr old son's teacher as a "piece of gold". It is great because each session involves watching a short clip off the DVD where children demonstrate the skill. This visual aspect suits AS kids really well. You can use it at home one-on-one, or use it at school with a small group.
Haven't done the whole series yet, but I looked just about EVERYWHERE before finding this.