You'll find there are quite a few very strong opinions on this forum on either side of the question. Unfortunately, what many people perceive as "friendly" behaviour just isnt. Some chameleons do tolerate handling relatively well, many (most?) however find it "stressfull" and some react with great aggression, others react to the stress with passivity. In the end, its totally up to you as to how much or how little you handle the chameleon.
For me, I handle minimally. There's no benefit to the chameleon and yet the possibility of harm, so therefore no reason to do it, in my opinion. If I wanted a pet I could hold and play with, chameleon isnt the one I'd pick. That said, I have one that will often use me as a vehicle to leave his cage and get to a particular plant, which occassionally also gets taken outside for a short time. All I have to do it open the cage. If he chooses to come out, he walks onto me (usually onto the top of my head, since I'm fairly short and he's above me most of the time). Though none of them are what I'd call aggressive or behave overtly fearful of me, I dont remove the others from their cages except for breeding, major cage cleaning, vet and such.