When you say that he eats from your hand, do you mean whilst standing on a perch or whilst standing on your hand?
If heís standing on your hand - some budgies are happy to hop onto a finger; some prefer a palm, or back of hand or forearm. Accept his preferred boarding place (it might expand later or it might not) and just add the command ďStep upĒ as he climbs aboard, to let him begin to associate the command with the action.
If heís still standing on the perch, then you need to position the treat so that he can reach part of it whilst still on the perch, but not all of it.
Create a relaxed ambience by chatting gently and constantly.
Hold the treat next to him and then wait. Let HIM decide to come to you, donít start moving closer.
As he starts to eat, over time, heíll likely become braver or distracted and may place a foot on you without really noticing.
STAY STILL (this perch needs to be secure) and keep up the chatter - donít change anything.
If he realises he canít reach any more treat without stepping up, and he moves back, then just stay in place and wait a little longer as he may come back. If he doesnít, then retreat and try again another time.
Try holding a few balls of millet (or whatever he prefers) in slightly cupped palms, and rest your hands against/on the perch.
Or try holding the stalk of a short length of millet between your thumb and middle finger, with your first finger extended as a perch; rest the finger (or finger tip) on the perch.
Once heís happily coming straight over to hop on, then you can start adding a well timed verbal command.
Best of luck