I think it depends on how you define friendly. To me, friendly means I can walk into the covered run and approach, pick up, or touch the chicken I'm interested in for a few minutes without it running away. The chicken will tolerate me picking her/him up and inspecting legs, wings, vent, and body for any vet issues without much fuss. IF they're interested in food or nesting on my head (they think about this a lot right around nightly perching time), they'll get up on the isolation cage so they're at my waist level, and I'll pet them then. Or if I'm obviously carrying food, I'm very interesting.
I talk calmly, move my hands super, super slowly, and hand feed things like tomatoes, cucumbers, watermelon, mealworms (favorites) at ground level. This helped them decide I was okay. I brooded in a 100 gal tub with a hardware mesh lid, and I used to sit on a stool next to the brooder and talk/croon to them continually while performing chicken care tasks at least twice a day. I spent up to an hour each night cracking the brooder lid, each chicken would fly up to the edge, and I'd hold each one and pet it individually. I found they didn't like things covering their wings, but petting was okay. When young, they liked to be covered with my warm hand, once they calmed down, and I could often get them to sleep. If they startled at seeing me, I'd sit there and talk calmly until they calmed down, then do my brooder activities.
Finding a good association for them with me was key - warmth (good nesting spot), food (handfeeding), or a fun perch (human arms and hands make fun warm perches and are much more interesting than the inside of the brooder). When I had to doctor them (pasty butt wiping, pecking injury coverup lotion application), it would take them a bit to re-decide I was okay, since they didn't like me doing those things.
To pick them up as chicks, I did something similar to the technique I saw my friend do with her parrot in order to lift them into my hand - put my hand out flat between their legs while they were standing on something. Gently lifted directly up, so their breast was resting in my hand. This would cue them to flap their wings and regain their footing, and when they were done they were standing in my hand. The key was keeping your hand still while they were flapping about to settle themselves. Then I could transfer them to the edge of my hand, my arm, etc. while I petted them or inspected them. They would perch calmly until I put them down, or until they were done.
For full size chickens, I found two hands were often necessary to pick them up because they were so heavy and large, then I could hold them against me while placing my arm under their feet if I wanted to. They would perch on my arm for a bit then leave. I would like to be of more interest to my chickens, but food ranks higher than me every time.