Absolutely!
Things my dragon has learned:
- Human is not threat. Human does interesting things.
- "Taco", "Hey Taco Tac-Tac" announces "Human now interacts with dragon".
- Human clothes, neither that a human "changes color" with them, nor clothes on a clothesline are any form of threat. Human "color change" as of clothes, sunglasses and so on do mean nothing w.r.t. dragon and are no sign of mood or such.
- Human is not getting angry when "stealing" an insect from them.
- Human touching is no threat, but actually cuddly warm.
- Human can be shown where being pet is wanted. (Taco learned to tilt his head and present the part of his body that should be pet. He found out at an age of about 1.5 years. Before he liked being pet, but remained passive.)
- Human can fix the lights if they are out. (Taco even then tilts his head and looks back and forth between lamp that is off and me!)
- Human puts dragon back in nice warm enclosure if dragon wants so. (Just run back to enclosure and sit there. Human comes immediately.)
- Wearing a harness and leash is no threat. It is even exciting: Balcony time. (I got him used to it gently, using tips on how to get a dog used to a harness or muzzle. Like: Just showing he harness. Petting the harness

. Putting the harness next to the pet. Putting the harness on top of pet, but not wrapping it around.)
- The transport box does not mean any harm like being given away. (I put him in regularly just so he stays used to it, and for taking his weight. The first time I put him in, about 6 months old, he scratched me up badly, really fighting. I think he thought me putting him in means he has to leave. But that guy is smart: The second time, it was absolutely no problem, as he saw he of course is taken out of it and back in his enclosure again.)
I can also imagine that more domestication will change some of the bearded dragon's behavior.
Right now, they appear to me more like a wild animal adapting to living with humans - which most young wild animals can do. It might be different, like e.g. with cats and dogs, after more domestication that already a natural interest in humans is inbreed.