Yes. I first saw Serenity only having seen four eps myself, and I was perfectly fine. So long as you know who everyone is. Joss fills in newbies without being obvious about it. :)
I... sort of know who people are. I know Mal and Jayne and Simon and River and Kaylee (I think?), and the whole space-western-outlaws-pretty-theme-tune thing.
I've heard reports that some people don't know the purpose of Inara if they haven't seen the show. Apart from that, I honestly believe you can jump in having never even heard of Firefly and not have any trouble. None of our TV movie reviewers had seen the show and it got an average of 3.5/5. You'll be fine. :)
no subject
no subject
no subject