Should I take it upon myself to teach my husband how to do things?

Me and my husband are both 23. He does not know how to do very much. He can't cook. He doesn't know how to change a tire. He doesn't know how to check his oil. He also doesn't know how to ask for help. I know he lives a very fucked up life. He was taken from his abusive parents and put in foster care. Experienced every single form of abuse and his ex girlfriend was abusive.. The reason he doesn't ask for help is because both his parents and ex girlfriend would belittle him when trying to teach him how to do something. So he either struggles in silence or doesn't do it. He also has autism and his ex girlfriend used to call him an autistic r*t**d. We have worked through some other issues he has. Like he would get really excited telling me something and then stop and apologize for talking too much because so many people in his life yelled at him for talking too much. Would you take it upon yourself to teach your husband and how would you go about it without embarrassing him.