Erika,
No simple answer, but a few thoughts, mostly worst case scenario...
* A beautiful upside down U shape upper lip...I agree these can be beautiful, but they can also be how a syndrome presents.  A "rainbow" shape upper lip might indicate something yet undiagnosed.
* Other babies who can't form a seal would include cerebral palsey and babies with a sensory issue where they aren't particularly feeling the input.
* On a happier note, if the baby simply is lacking muscle tone, baby will benefit from working with someone like an SLP/OT who has specific exercises to address it.
* If the tongue is also not engaging correctly (and it sounds like it isn't), it won't matter if the lips seal or not because it still won't be successful.  :(
Gentle massage around the baby's lips prior to nursing (these muscles are circular--they need to be rubbed in the same direction, so literally*around* the mouth)
Cool washcloth on the baby's lips may help them wake up
Lingual stroking with mom's finger or a soothie pacifier 
These aren't quick-fix strategies.  This baby likely needs the skill of an SLP or OT depending on where you live.  I'd be curious to know about the baby's behavior with the bottle, which bottle, and happy to talk more specifically about that part if you'd like.  
Amy Peterson
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