Zoe Alleyne (played by Gina Torres), loyal follower and second in command to Malcolm Reynolds, serves on his vessel after the Unification War on his spaceship Serenity. Hoban (played by Alan Tudyk), a talented pilot who goes by the nickname Wash, gets hired by Mal and falls in love with Zoe. The two are a wonderful team.
Firefly, a TV series, ends in Serenity, a movie, both created, written and/or directed by Joss Whedon. Both are available on DVD. There is also a comic book continuation.