Wow, what a wide range of responses to your post! My own dh has worked hard in his parenting techniques so I would like to add my 2 cents as well, and I have 3 suggestions.
First, I believe communication between the two of you is key. You both have obviously recognized this issue so you can talk about it openly and non-judgmentally.
Second, I think the stereotype of the manly-dad is just a stereotype. Each dad’s personality and parenting behaviors are different and being different doesn’t prevent them from being successful. This series of articles
http://bit.ly/1Y9mA7I may help you both to learn how those great qualities that make him a dh can also make him a dear father.
Thirdly, as your child grows you may want to get him (if you do indeed have a boy) involved in organizations in which dads participate, such as Boy Scouts. This will give your dh an opportunity to develop relationships with other dads that will nurture his personal growth and his parenting skills. In the meantime, he may enjoy this blog
http://bit.ly/1TVXtjR it is all about dad-type things and it is written by dads.
You are obviously caring people, I think your child is lucky to have you both and I wish you all the best!