She sure does. It's all for him, too -- she doesn't do this for just anyone.

Inara drops the hold she has on her hair in favor of placing her hands back on her own body. Knowing he appreciates what it is that he sees, she gives him more, hands finding her own breasts and toying with them, feeling their heavy weight in her own hands.

...Admittedly, it's a turn on for her, too -- so she's not stopping. Not unless he stops her.