This is from a post i made on another thread, but it applies here also.
I'm going to take a different tact, everyone else is correct and habitat setup is absolutely critical, and can effect behavior. That being said, he IS a baby, not only is he a baby he is not a domesticated baby like a puppy. Beardies have to fend for themselves from day one. To your baby you are the biggest,scariest, GIANT its ever seen. Simply put he is scared. The trick to taming Beardies is first and foremost patience. It takes time to earn their trust, but there is stuff you can do to help. First don't ever approach him from above, they have a photo sensor type organ on there head, it for seeing changes in light. It's a defense mechanism to help them avoid birds.
Second be confident when you interact, if your nervous so is he. Use slow but confident movements when handling him. He is little if he bites it won't hurt. So don't act scared. Third keep some greens handy, tear off a few smallish pieces. If he gapes or hisses and is trying to bite, stick a piece of greens in his mouth. Eventually he will figure out if he trys to bite he is just gonna get food shoved in his mouth. Fourth put a small piece of your clothing in his habitat, it will help him learn your smell. Fifth your the boss, when you hold him he is going to try to escape and run. Don't let him, have him run hand over hand until he gets tired and settles. Do not put him back in his habitat until he is calm. This is important because if you give in you will reinforce bad behavior. Be gentle but also be in control.
Another thing, they jump and they will do so from any height. Be careful, it's probably best to handle him in his habitat until he is a little more trusting.falls can do serious harm or kill them. The more time you spend working with him the faster ge will learn your ok. Hand feeding also helps him to learn to trust your hands beibg near. Again move slowishly but with confidence.
I know this is long but i hope it helps.
The ont thing i forgot in that post. If you can handke him, get him out JUST before bedtime and lest him snuggle in on your shoulder/neck. Let him stay there for a bit after he is asleep.
And when he starts wiggling in watch your heart melt!!!!