It is very unlikely. AIDS is transfered through fluid contact. So just touching your hand to his penis is *highly* unlikely to transfer it.
There would need to be a way for a fluid of his (blood, semen, mucus, etc.) to get into your body via something like a cut, sore, or through the mucus membranes of the nose, mouth & around the eye).
If there are fluids involved, then you need to be *much* more careful.