Hi again Ryan!
Yep... you can totally hold them! You are right, it really depends on the individual chameleon. I have a 3 year old male Veiled and a 3 year old male Nosy Be Panther that are SUPER friendly. They actually beg to be let out of their cages everyday. I've had these guys since they were babies, perhaps getting a younger one and interacting with it everyday will make them more tame. Hard to say.... I'm still working with this 3 month old one, and he's still a grump! *shrugs*
Out of all the species I've worked with, I've found that Panther Chameleons tend to be the most calm, even tempered ones. Hopefully you will end up with a friendly cham!
Cheers!
Trace