WARNING! The eSnap was moved from Special menu to Snap menu (more logical), you can access the menu with Shift+S.
On Blender is no way to Snap two objects! And this simple addon fix that!
Install the addon, and you will find the eSnap option on the Snap menu (presing Shift+S on 3D View), or you can use the shorcut "Ctrl+Cmd+S".
You need to select first the object you need to move, and second the object where the first one will move. If you select the other way aroun don't worry! You can invert the eSnap behaviour using the Invert option.
You can find more addons on my BlenderMarket Store.