I got my chicks when they were 2 weeks old. My husband, daughter and I would just reach in and take them out of the brooder several times a day and snuggle with them. They argue at first but then snuggle in and go to sleep. I almost think the yelling about it is what they would do if a predator has them to alert the others. Once they see you are not going to eat them, they calm down.
Now my girls are 8 weeks old. I take a stool into their penned area and just sit down. I talk to them and try to pet them. Almost always 4 or 5 of them will jump up onto my lap and settle down for a bit. They enjoy me to pet them. I have an EE that won't do it and a Barred Rock that has only done it once for a minute. All of the others will just settle in with me.
I think they like it when you let them decide whether or not it is snuggle time. I think you maybe have to force it a bit when they are very young though so they get it. At least that is what has worked with my girls.
A couple of them will even fly from the ground onto my shoulder to hang out with me. One word of advice that I learned the hard way. If you have long hair tie it up and wear a "chicken poop approved" shirt. I experienced the first pooping chick on the shoulder and had to wash my hair.