Nathan Fillion Captain Malcolm "Mal" Reynolds Actor Gina Torres Zoe Actor Alan Tudyk Wash Actor Sean Maher Simon Tam Actor Adam Baldwin Jayne Cobb Actor Jewel Staite Kaylee Frye Actor Summer Glau River Tam Actor Ron Glass Book Actor Morena Baccarin Inara Serra Actor Gregory Itzin Magistrate Higgins Guest Star Daniel Bess Mudder Guest Star Kevin Gage Stitch Hessian Guest Star Zachary Kranzler Fess Higgins Guest Star Jordan Lund Foreman Guest Star Bob McCraken Well-Dressed Man Guest Star Ronald Craig Williams Busker Guest Star John Jabaley Bartender Guest Star Laura Niemi Woman Guest Star Simon Brooke Prod Guest Star Joss Whedon Executive Producer