All my gang of beardied dragons have loved being covered with just their heads out by the my front shirt tail while having a snuggle on my chest , I know they love it because they put on their "happy colour" when snuggling like that.
It's a little ritual we have, feed , floor fun time or lounge seat TV time , mum of dad quality time , then back in when all nice and warm and relaxed to either bask for while or to retire for evening .
BTW it's not just a beardie thing. My eastern BTs love it too as have most of my eastern water skinks ( except for Gutzy who prefers to stay in her shared tub but is starting to slowly come around and sometimes lets me pet her ).