I've had both a beardie and now 3 rankins dragons (dwarf beardies). All mine have enjoyed human attention and come out to sit on the window sill when it's sunny and will stay there ages on a hot water bottle. One of them particularly prefers to sit on a human though rather than in the window and will leg it to the nearest seated human
I have a savannah monitor too - completely different type of lizard personality. Although he's very tolerant as far as savs are concerned - he doesn't want to stay on someone for long.