My Heirodula multispina are very docile and easy to handle. I have had a couple that seem to have preferences for certain people. A male that would fly to my daughter almost every time, and a few of them (male and female) that would flatten themselves against my hand when strangers got too close. The only time I have even got a threat pose was from feeders and other mantids.
I have been doing very little handling lately and they get very shy when they are left alone alot.
I would like to have some feisty ones, like Cilnia humeralis, or Parasphendale affinis, but the H. multispina are a sweet species to show to children who might be frightened by a feisty mantis. I feel like I can trust them not to grasp fingers when they are well fed.
My Tenodera sinensis would catch a 'tude every once in a while, and seemed to love finger munching.
Stagmomantis carolina would often go running, or drop and be still when first let out of their containers, but they were usually fine after they got warmed up to handling for a couple of minutes.