I watched the British version.Yes, I can also say, 'Do you fancy doing X?' meaning 'Do you feel like doing X?' I assume Lampak watched the America rather than the British version of Being Human? Fancy isn't common in AmE today, I don't think.
Fancy that. If you do a bit of searching on the Internet you will get find plenty of fancy and a bitIn one of Being Human episodes, George and Mitchell were talking about Mitchell's relationship with Annie and at some point George corrected the a-century-old vampire saying that 'nobody says "fancy" any more'. So what do you say instead of it these days?