Some hedgehogs are unco-operative and that's that. However, others will become very tame indeed, especially those that have been reared by hand from an early age. They will then not roll up or 'bristle' and will allow at least their owners to tickle their tummies and turn them upside down, feet in the air, things that normally meet with severe hedgehog disapproval. I know one animal (Georgie, star of a BBC - TV film) who would come out of her nest box when called by name, but another (Emily, who had also been hand reared) who often bit me.
There is so much individuality among hedgehogs that one cannot generalize and say 'this is right' or 'this is wrong'. However, as a rule, sudden noises and clumsy handling are the two things most likely to upset hedgehogs. They normally don't like bright lights either. Regular handling is helpful, but gentle. Avoid sudden movements and touching their faces. Handling when they are fed is a good idea; they then associate you with food. The next step is to reward good behaviour with some favourite morsel, the problem being that hedgehogs' tastes differ. Georgie loved salted peanuts, Emily liked milk, others are eager for mealworms while some won't bother with them.