Yeah huh!
I have the Bodyguardz Pure - Glass Screen Protector for my iPhone 5S.
I have to say that it is as clear and responsive as a naked iPhone, while having a decent oleophobic coating making the screen quite easy to maintain.
With regard to your question, although it might be on the thick side (being 0.4mm thick), I did not find any issues while using the TouchID.
Comparing my mate's iPhone 5S (without a glass screen protector), I felt like there was a slight depression on the TouchID (at my end), as in the home button was slightly recessed.
As mentioned by the others on this forum, this indent (read: recessed home button) is not enough to hinder the TouchID in anyway possible.
Although some may not like the feel of it. So you may have to check it out for yourself to finally decide.
I personally do not find any issue with it and I love the feel of the glass protector as I have always had a soft spot for them.
The pros def outweigh the cons!