There is also Dale Carnegie's 'How to win friends and influence people' https://en.wikipedia.org/wiki/How_to_Win_Friends_and_Influen...
Apart from that, maybe join some kind of regular group that is more oriented for social than physical? Toastmasters or something like that or even board game groups (most games have some social aspects to them). Wine tastings also come to mind. Just choose activities where you know you will have to speak with people.
You have Aspergers?
Have you considered any improv humor stuff, where un-planned-ness is almost the goal?