Very possible. The fact that the story doesn't seem to be going anywhere troubles me. For all its faults, Voyager had a clear, fundamental purpose, and so did Enterprise, though to a lesser extent.
I gave Smallville a try because we were promised a journey to Supermanhood, and Carnivāle set up a confrontation in its first episode that it built steadily towards with each passing ep. Firefly, on the other hand, has no discernible purpose. There's no vague mission of exploration and peace as in Trek;
There's a line (from the pilot I think) that applies here: Sheppard Book says: "The destination's not so important, it's how you get there that's the worthier part..."
Joss explicitly set out to make Firefly
different in that regard. The "purpose" is oft summed up by Browncoats as "get a ship, find a job, keep flying". He didn't want some grand theme (noble explorers, valiant law enforcers, et al) to drive the show.
is about people, and "everyday" people at that. Who they are. What circumstances made them to be where they are. And these particular people are far from "the best of the best"; they're "just folk", like us. Putting one foot in front of the other just to make it through the crisis of the day.
The other great thing about the show is Joss' ready command of writing really good dialogue. It's not stuffily formal like Trek or Galactica.
One ep I haven't seen reccomended (yet) is "Our Mrs. Reynolds". GREAT fun, if not quite a "plot advancer" like you seem to be looking for.