Is there any way that I can get my chickens back into their coop other than picking them up?
As many other people have said, treats work.
I have learned not to use things like bread crusts for getting chickens into a pen: the first one grabs the bread crust and runs back out, and the others follow.
So now I like wet chicken food as a treat, because the chickens seem to love it but cannot pick up bits and run away with it It's just their normal chicken food with water added.
I like to whistle when putting down the dish of wet chicken food or any other treat, so I end up with chickens that come when I whistle. Pretty much any sound will do to call chickens, as long as that sound always means something tasty.