Definitely tell him how you feel, and what you'd hope to expect from him (something similars been happening to me, with me being the one w/ aspergers, and I have a hard time figuring out what my friend expects, and how to deal with it), then give him time...
I don't know how he is personally, but for me, I just want the friendship, so I'd recommend you telling, then backing off and treating him as normal to let him decide what to do... keep moving on might scare him (did me), possibly to the point he may want to avoid you-- don't think you want this, so just have a good talk and let everything be bluntly spoken, he should understand what you mean, but also have him understand where he stands (does he want to date, doesn't he? does he have any reservations? that kind of stuff), the more laid out and constructed things are, the easier for us to deal (we hate uncertainties, so worrying about if this or that is right isn't good, so if its structured, its easier to handle)
Good luck ^^, just don't expect too much, if your patient that might end up being all you can rely on for a while... but best of luck to you