I pick mine up with one hand around their middle and then a hand straight away under their bum. Once out of the cage I hold them to my chest gently with both hands, I have always got them supported underneath and I'm really careful with them.
The younger ones are much harder to catch though lol My youngest and newest edition just runs around like a maniac, so it can be difficult with him. He also likes to try and jump out of my hands, once he managed to race up over my shoulder and onto my back haha I had to bend over very quickly so he didn't fall off! I looked like a surf board for a piggy.