I used to pick up chickens and hold them football style until my wife learned me different now. So now I pick them up both roosters and hens by placing my hand underneath their body so my thumb and pinky fingers are both around one leg. This does allow them to flap about if they are not used to being picked up but in this manner you can pick up two at a time, or just one while you inspect it all over: on the legs, pulling out one wing at a time, their vent etc, without having to jostle the chicken about too much. This also keeps you free from their spurs. As long as you keep a firm grip around their legs, they're not going anywhere.
EDIT
I do like the hen cam idea that would be easier for starters.