It's often fault of a psychological trauma suffered in childhood. Sexual abuse, for example. So counseling is one thing that society could provide to such men. Sexual therapy treatments have been used successfully in some countries.
I certainly don't expect people to just work through childhood trauma without societal help. ex. Make it cheap, easy, and acceptable to get therapy. Much different than my list above IMO where most people can work on it themselves without many excuses.
The example I'm coming back to though are people like my younger brothers, who had relatively happy childhoods (afaik), but still have failed to launch for some reason or another. To be fair my father has anger problems to some degree, but nothing too crazy, just a proclivity to yelling more than was really necessary.