Something you guys may want to check out is a Firefly fanfic novel I came across. It actually does a fine job of representing the characters in such a way as to create the same atmosphere as the show. It's set after Book and Inara have left but before Serenity. I'm almost half way through it and enjoying it immensely.
You can find it here.
Aimin' To Misbehave: A Shiny Firefly/Serenity Guild
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