I've noticed with Poppy, if I can get my hand on her back lightly, she presses down on the ground and can be picked up quite easily, maybe that's a bit of a submission type of body language, like OK I give up, you've won! Of course, getting a hand on her back is another thing altogether! Bramley is a little monkey, sometimes he just sits there to be picked up but at other times (most of the time) he decides it's not convenient at the moment and turns, leaps and squiggles free. He knows if I'm going to try to pick him up, he must be reading body language. He also knows when I'm there just to see him and usually comes over. Mimsey has to be caught at the right moment, although she doesn't squiggle or kick she gets nervous and nibbles clothing or skin if you carry her too far! Blossom is fine once you get him (I usually have to corner him!) and stays very still and is quite relaxed. When catching him he always backs up like mad so a hand behind him soon scoops him up! They all seam to know when you carry them back home and get impatient when they see the hutches.
Generally I try to scoop, getting them in the middle by accident is bad as they wriggle and kick, it must be a predator type reaction. Sometimes if it goes wrong it's best to let go and try again when everyone has calmed down. I generally support all the feet against my body but watch out for jumping, especially with young ones. Another method is to support the body against yours with your arm but allow the feet to dangle, this avoids them kicking against your body.
Whatever I do, I usually end up with muddy knees, fur and wood shavings everywhere! I prefer to be wearing a fleece as well as those claws are sharp!
I rarely pick up out of the hutch, I think it's best to let them come out on their own. I break this rule when they get in each other hutches at bed time as its' a game for them, I'm sure Bramley and Poppy have learned that I only shut the doors when they are in the right hutches so use it as a delaying tactic.