How to help him learn to adult without sounding judgmental

I have guardianship of one of my son's friends. He grew up extremely rich. Had a game room. Had personal cooks, personal housekeepers. He didn't even pick out his own clothes. His parents were millionaires and he went to an extremely expensive private school. He lives with me now because over a month ago his parents were arrested for tax fraud and embezzlement and all their assets were seized. He's been separated from his younger siblings and has been going through it. It's a big change. He and my son will be seniors and he will spend his senior year in a new school. A public school at that when he's used to his private school. He has been going through some depression and he is seeing a therapist. He gets kind of sad when me and my son go to work because he has nobody to talk to. My mom is hear for the summer but doesn't like him because she saw him as a spoiled rich boy. He doesn't know how to cook or clean or do laundry. Like I said he never even picked out his own clothes so he just sits around in pajamas all day. Yesterday he tried to eat some ramen I bought and he asked my son how to make it soup because he isn't used to that ramen. My son told him to just put it on a bowl and microwave it. He took it literally and microwaved dry ramen with no water. He's gonna be in the real world soon and has no skills to survive. I want to help him but with all he's been through I don't want to come off as judgmental. He has no money anymore. His parents skewed him and his siblings. He needs life skills. How can I do so and teach him without coming off as judgmental