Are you clicker training him? If so, if you want him to follow but not touch your hand, you need to make sure you click before he actually gets to your hand (the great thing about clicker training is that you can really pinpoint what you want).
If the aim is to have him walking to heel and looking up at you, I would probably start with my hand in the position that was going to be my cue, eg a fist on the front of my hip. You can then hold treats in that hand, click him for looking up at the hand (before he jumps up) and drop the treat out of his hand. Then he is learning the cue of looking up at your hand (and naturally if you're walking he will need to be alongside you to do this, if that makes sense?).