No, Victoria Osteen is not exactly right when she says we ought to do good for ourselves instead of for God, but neither is she totally wrong. She's derailed and in the ditch, but the right track is in eyesight.
Osteen is not totally wrong, because walking with God is a—let the reader understand—happy thing. It's a different kind of happy, to be sure. But it's a happy thing nonetheless. Not happy-go-lucky. Not happy in moments or gifts. But happy in the Sovereign, in the Giver. George Whitefield preaches:
"As it is an honorable, so it is a pleasing thing, to walk with God. The wisest of men has told us, that 'wisdom's ways are ways of pleasantness, and all her paths peace'. And I remember pious Mr. Henry, when he was about to expire, said to a friend, 'You have heard many men's dying words, and these are mine: A life spent in communion with God, is the pleasantest life in the world'. I am sure I can set to my seal that this is true. Indeed, I have been listed under Jesus' banner only for a few years; but I have enjoyed more solid pleasure in one moment's communion with my god, than I should or could have enjoyed in the ways of sin, though I had continued to have gone on in them for thousands of years. And may I not appeal to all you that fear and walk with God, for the truth of this? Has not one day in the Lord's courts been better to you than a thousand? In keeping God's commandments, have you not found a present, and very great reward? Has not his word been sweeter to you than the honey or the honeycomb? O what have you felt, when, Jacob-like, you have been wrestling with your God? Has not Jesus often met you when meditating in the fields, and been made known to you over and over again in breaking of bread? Has not the Holy Ghost frequently shed the divine love abroad in your hearts abundantly, and filled you with joy unspeakable, even joy that is full of glory? I know you will answer all these questions in the affirmative, and freely acknowledge the yoke of Christ to be easy, and his burden light; or (to use the words of one of our collects), 'His service is perfect freedom'. And what need we then any further motive to excite us to walk with God?" (Whitefield, Walking with God)