The more you handle them, the more they get used to it. I have had my hamsters 1 year now and they don't mind being held for short periods. Just remember to kind of 'scoop' them up or get it to come onto your hand rather than grabbing or squeezing.
DP sugggests trying at first when it is sleepy!
My hamsters are school pets and they have only ever bitten the children twice! Both times was because they had been overhandled and cuddled and felt stressed!!!
Just go for a few minutes and be gentle...you will be fine!
PS. It doesn't really hurt if they do bite....a bit like a pin prick!