Yes, see, this is reason #341 why Firefly shouldn't have been cancelled! We never got to explore Jayne's sweet nature! He spoons with whores! He brushes their hair! He treats women well! (We'll ignore him slapping River in Ariel since that was self-defense)

But yeah, he's one of those people who observes through touching. There's gotta be that physical contact, and I love that about him. :)