Are you friends with this girl too? Try to get them both together in a group setting, there'll be a lot less pressure on the guy if there are a few other people around. You won't be able to do much more than steer the conversation to topics your friend can talk about and making your friend look good, if you can get him talking he'll gain some confidence.
Aside from that, your friend just has to want it enough. You've talked to the girl, does she seem at least a little interesed? If he ever complains about how he wishes he can ask this girl out, tell him that if he just had the guts to ask, she'd probably say yes. He's the only one that can do it, all you can do is keep to the sidelines and sorta coach him along the way.
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