I was a CIT, then counselor, at a Y camp for four years in all, after attending the same camp seven summers as a camper. I probably wasn't really mature enough the first year or two, but I had an absolute blast. I came away from the experience with a lot more confidence, patience, and understanding, many terrific memories, and a few lifelong friends.
The only downside, from an Aspie perspective, is that it's nearly constant social interaction. Mostly with kids, though, which I always found less stressful than dealing with adults. Anyway if you've been to the camp as a camper you have a pretty good idea what goes on. If you think you can handle the responsibility I think you'll have a great time.