Well, I think he may need Emma back in town to help him break the barrier curse so he can get out of town. Rumple may well assume that the person Henry saw in his dream was Snow, (given that they’ve both been under the sleeping curse), so if he could help Henry to gain enough control to communicate with her, that could lead to a way for Emma to get back so that he can ask for that infamous favour. Much as I wanna eventually see my boy Rumple redeemed, I doubt this gesture was purely out of the goodness of his heart.