"Can I help you...?"
The implication is that of ability. 'Do you think I am able to help you?', or 'Do think you able to do it?'
It is a common greeting in shops, and it irks me. Sales clerks repeat this phrase day in, day out, and it can be delivered or replied to in an insulting manner.
"May I help you...?" Permission is being sought by the assistant. A service is being offered. The customer can decline or accept the invitation. 'May I...' is not loaded with the clerks or customers abilities. Saying it or replying to it with insolence doesnt work very well.
May I is a benign introduction, and the focus is on the service.