You've already heard this; he is probably worried about hurting the baby. I don't think he is lazy, just possibly not too sure of himself when it comes to the detail of caring for baby. Gently encourage him to get over this. This is a great time to build the communication in your relationship. He may not even realize how important it is to you to have him participate in the baby's care.
Bathing is usually a fun time for babies, and this is a great time for him to have fun with the baby. And it will have its perks too that he probably hasn't thought about. By taking time to care for baby, he gives you time to take care of other things, perhaps washing dishes for example. And by easing the load on you, it will give you more special time with him after baby is asleep which becomes even more important as baby gets older.
Someone earlier posted her husband's concern about being the bad guy every night if he took responsibility for bedtime. I think she handled it very well. Consider asking your husband to read one story a night to baby. This could become a very soothing ritual, part of the bedtime routine, as baby becomes older.
Too often, I hear the guys at work say they have to 'babysit' the baby when they get home or over the weekend. Taking care of one's own child is not babysitting and it really disturbs me when I hear fathers say that. Encouraging the dads to become a part of everyday routines not only helps them build confidence in their parenting skills but also builds the relationship they develop with their child. And it definitely pays off when our children are older.