Our chicks have come running to our hands when we reach into the brooder from almost day 2 of having them, they were a little under 2 weeks when we got them. 2 of them will hop into our hands when we put it next to them. The other while not hopping up for a lift, has no problem being grabbed in any angle. The last one is a bit skittish sometimes, she will still come running, but when you go to pick her up, she will duck, or hop over your hand and skitter off to a corner, but once your able to coral her shes fine.
The first few days we had them, we spent a lot of time with them, put towels in our laps and let them walk around us, and letting them come to us out of curiosity, eventually all 4 fell asleep in our laps. I think a lot depends on the chicks moods. Like kids their are times when they are curious and playful and when they are like that, being trapped in a hand is not very fun, and they will try their best to get away. Its best to let them be chickens for a bit, give them something to play with, let them wander around, when they start to settle and fluff out the feathers is the time to scoop them into your lap or hand, they will welcome the warmth, and fall asleep often their little beaks resting on you.