Aww so adorable! I wish my chameleon did that, mine is just like, give me food, clean my cage, and go away.
All of my chameleons have been relatively tame, even my veiled by standards of most veiled chameleons - doesn't hiss at me too often, sometimes she does but she does tend to tolerate me.
To produce this behavior in my chameleons, I approach them with large, juicy, dusted bugs at their standard feeding schedules, via tongs. I usually approach them calmly and sometimes I talk to them in a higher pitched voice, I'm told that chameleons may not pick up on it but I do it anyway. Usually I'll wave the insect around outside the cage (while in the tongs) to get their attention, then I calmly move one hand towards the latch, they tend to understand that I need to open the door for them to get to their meal at that point.
They are like dogs, they get so excited when they see me coming with their feeder, especially my little panther chameleon here. When I see them hunting, I usually know that's about time to feed them a bug (except for my veiled, she will feign hunting for a meal because she's fat, so watch out for the abusers), they scramble across branches and will start to stick out their tongue, and wave their tails around.
They really enjoy their feeding sessions because I tend to let them wander around and hunt for a bit, then I'll come in with the tongs, sometimes I'll put the insect while in the tongs between some leaves or something to make sure they are being challenged enough to aim from a distance, kind of like creating a target. It's my understanding chameleons do benefit from hunting a bit, so I tend to make them work at least a little for it.
Doing my feedings this way, while also making sure they have decent enclosures, tends to reproduce this desirable behavior in a chameleon, in my personal experience.