Are you talking about brooding in the coop with a broody hen or in a brooder? I'll answer as if you meant in a brooder.
I normally start chicks in the house the first week, so I can make sure they are all fine and none of them have any issues. It's easier to keep an eye on them or to treat poopy butt, if they get it, in the house. Some started in the livingroom and then moved to the basement, others started in the basement. I've then either finished brooding them in the coop or a grow-out tractor. When they moved out depended on how many I had and what's been available for housing at the time.
I think they've all turned out friendly. Even the ones that started out more flighty or that were hand shy after being shipped as day old chicks, still turned out friendly. They all love treats, there's always at least a few lap chickens and they're all happy to follow you around from time to time or come over to see what you're doing. When they aren't too busy foraging for bugs. Let's face it, a live bug will always come first!
I still visit with chicks, even when they aren't indoors. I don't handle any of my chicks as much as some people do, but I talk quietly to them and let them observe my hands in a non-threatening way in the brooder. They learn that I'm not a threat and bring good things. When I do handle them, I'm very gentle and slow about it. When they first start free ranging, I walk with them. I show them where they can go to forage and help them feel safe. They're always glad to see me or my husband when we come outside or go into the coop.
If I was letting a broody raise them, I would bring special treats to the broody every day and spoil her. Letting them see you have a good relationship with their mom and the other chickens is a good way to help them have a good relationship with you. My good and trusting relationship with animals that have young has rubbed off on their babies. I would just do the same thing with chickens.