Yeah, it shouldn't hurt them to touch it. It's basically used as a warning system to the lizard of predatory birds. Iguanas have them too, actually. I'm not sure if it is just larger lizards or lizards that eat vegetation. I will see if I can find anything on that. Basically, the lizard can hang out on branches and generally bask in the sun without having the stare at the sky all day. If a large bird flies over the lizard, the eye picks up the change in light AKA "Hey, there's a bird coming to eat you!" and the lizard can dive for safety. Iguanas in the wild will often bask on branches over water and will literally dive into the water if a shadow passes over them.
The only thing that you need to be careful about is if you have a new or young beardie that is not used to handling, try not to pass your hand over the top of their head since they may register it as a threat and freak out. This is probably why it's recommended to scoop them up from underneath when you pick them up.