In short, there is not danger of asbestos dust unless the shingles are broken up. IE., if you start 'smashing' them up and such, you'll cause the asbestos to become airborne.
These shingles are about 1% asbestos in composition. Painting them is just fine. First, you should relace any damaged or broken shingles. Second, you should clean the siding. Third, prime and paint. Visit your local Paint Retailer (found in the YELLOW PAGES under PAINT - RETAIL.) Tell them what you're doing and go from there. Unless your Seller Disclosure Form specifically asks about hazardous or friable asbestos, you needn't disclose that your shingles are asbestos shingles. Again, they AREN'T a hazard in their 'solid state'.
For more information on this, talk to your Realtor or local Health Department. My best to ya and hope this helps.