I have to disagree, 90%. I hope she doesn't mind me saying it, but I was just at JannB's house picking up one of her baby veileds and I have never in my entire life seen 30 more social chameleons. They willingly and eagerly reach out to climb up on people and absolutely love being handled. The little girl I got from her, Charlotte, is eating from my hand and climbing on me without any problem what so ever. Jann is the chameleon whisperer, I swear!
That being said, there are chameleons that just will never get used to it. I have a WC Jackson's that is just the sweetest, most tranquil chameleon ever, along with my new little Charlotte, and then each of my two panthers hates me more than the next. And while I can try bringing them out a couple times a week, they might never be comfortable with it. You just really need to learn how to read the temperament of your chameleon and adjust accordingly. Some will never tolerate you, and others might have the potential for improvement. So it really depends.
I think the best tactic to use is positive association. It works with just about any animal - if you do something, and it results in an enjoyable reward, then that experience becomes conected with the reward. So you can hand-feed, and associate yourself with tasty food, and you can try bringing her out to a great sunny cage or perch, so she associates handling with the enjorable experience of being outside in the sun. Try this, but read her reaction. If her reaction is over the top (she's turning black, and hissing, freaking out, and scrambling to leap off of you) then she might not be the kind of chameleon that will ever be tame. But it's less dramatic (she just gets a darker, but otherwise doesn't seem to be freaking out) then with gradual handling she might grow used to it.
Only you can read what your chameleon is telling you and know how far to go with it, like I already said. Just be prepared to just live with the fact that you might have one of those "untouchable" chameleons. Good luck though.