Well if you're really serious about it, one of you is going to have to make the dreaded approach. I know many Aspies including myself make most if not all of their friends by people approaching us, not the other way around like NTs can easily do. One of you is going to have to do it, it may as well be you.
But look at it this way. He's an Aspie too. He might be thinking the same thing. He might also want to make a friend. It's not like you will embarress yourself, I mean, he is an Aspie, he should understand. Good luck!