Firefly was the TV series Joss Whedon created after Buffy & Angel (although whilst they were still on the air) it was cancelled after only a few episodes but achieved such a large following of dedicated fans that a film was made of the series which was entitled Serenity.

Adam Baldwin (Jayne Cobb)

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Alan Tudyk (Hoban "Wash" Washburne)
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Jewel Staite (Kaylee Frye)

Joss Whedon (Creator/Writer/Producer/Director)
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Mark Sheppard (Badger)

Morena Baccarin (Inara)

Nathan Fillion (Captain Malcolm Reynolds)

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Ron Glass (Shepherd Book)