yes - night before bed cuddles are one of the joys of having pet skinks and pet beardie.
All my pet skinks and beardies love a nice mommy or daddy snuggle before they go to bed, but I have 4 at the moment so they all don't get one everynight (unlike Rex who demanded her daddy and mommy snuggles before bed).
I just put Peppa to bed after a long (2 hr) very nice daddy snuggle on my tummy and chest (she loves snuggles and is my current snuggle queen).
I don't recommend going to bed with a lizard, too much risk of you accidently rolling over and crushing them in your sleep. The best place for them sleep overnight is in their tank (in their little beardie cave).
All my BTS and beardies have a 7W heatpad controlled by a switching thermostat under their hides (sandwiched between tiles) , and they also love their nice cozy caves too. Only times they don't sleep on them is in very hot weather (if we don't run the aircon overnight), but they choose to go there most nights.
Nor do I recommend keeping two beardies together in the same tank.