Undiagnosed Aspergers?

A boy I know is very, very attached to me. He follows me around but doesn't speak. He is extremely anxious and flustered when someone asks him a question. He doesn't understand social cues at all and does very awkward things. I didn't respond to two of his emails once because I was away from the computer all day and he called me, crying, because he thought I was mad at him. I've looked up the symptoms of asperger's syndrome and he matches them almost perfectly. It's like no one ever sat him down and explained the unwritten rules of socialization, and my friends and I can't think of how else to help him. We're friendly, we invite him to sit with us at meals and make sure we include him in things. It's like he really, really wants to be social but is trapped somehow and can't get there. Someone said I could try suggesting he see a counselor, but I don't know how to tell him this without being rude or hurting his feelings. I just don't know what to do anymore but I can't give up on him. I feel like that's all anyone has done for his whole life: given up on him because they were too frustrated to deal with him. How do I try to get him to see help?