The best way to pick up a hamster is cupped in the palm of your hand with the other hand over its back or rump to prevent it jumping off your hand (and possibly getting injured). Especially at first, it is best to hold your hamster just above your lap or some other soft surface in case it falls or jumps.
Let the hamster crawl from hand to hand and it should gradually become more comfortable with handling. If you need to pick up an hamster that isn’t yet tame place a can or cup on its side in front of the hamster, and gently herd the hamster into the cup , which can be used to carry the hamster. Out of curiosity many hamsters will walk right into the cup.
Taming requires time and patience. At first, allow your hamster time to become accustomed to his new environment. Once the hamster seems calm, start spending more time around his/her cage and quietly talk to the hamster to get it used to your voice. As the hamster becomes comfortable with your presence, start offering some favorite tidbits by hand, and once the hamster is happily taking treats from your fingers you can start to try to pick up your hamster. Let the hamster walk onto your hand, then start trying to gently scoop the hamster into your hands. The time for this progression varies, especially depending on the age of the hamster. Your hamster may quickly accept being picked up, or it may take a month or more. If necessary, gloves can be worn to protect the hands if you must pick up a hamster that bites, but extra care must be taken not to be too rough.