Yes, there are books available that can assist those with Asperger's Syndrome learn, develop, and understand social skills (Some are in Kindle Format). Some of these books include the following:
The Unwritten Rules of Social Relationships: Decoding Social Mysteries Through the Unique Perspectives of Autism by Sean Barron & Temple Grandin
The Hidden Curriculum by Brenda Smith Myles, et. al.
How To Start a Conversation and Make Friends by Don Gabor (Although this book is intended for NTs, Tony Attwood mentions this as a useful resource in The Complete Guide to Asperger's Syndrome)
Asperger's Syndrome & Sexuality: From Adolescence to Adulthood by Isabelle Henault (The main focus on this book is sexuality, even though there is a chapter on social skills)
Also worth noting is the website http://www.improveyoursocialskills.com/. The creator of the site has AS and also lists additional books to use for social skills.
I will be honest in saying that even though I have read portions of the above resources, I still find it difficult to implement what I learn but, nevertheless am confident that I will get there and realize that these books and the website are a great reference to go back to.