Depends on the species. The Chilean rose is great. They are really docile. If you put your hand under them, they just get on and explore a bit. Another good species is Brachypelma smithi (the mexican red knee) when you think tarantula its the one you think of. Again generally docile, happy to be handled. Goliath tarantula (foot span of around a dinner plate) not happy being handled generally, best not.
The other consideration is there are two subsets, terrestrial or ground dwelling, the docile species are very good for handling generally. Arboreal, climbers. They may jump when you're trying to handle them. Pink toes (Avicularia avicularia) included. Although generally very docile, if they're comfortable they shouldn't jump.
I use the term generally so much because individuals do vary.