Udon sounds like a very scared ball python, if I remember correctly you've mentioned before that he has barely been handled with his previous owner and that's probably why.
I think going for it and picking him up is a good place to get started, actually. There are some ways to reduce the chances of getting bitten when you do this, one is to hold up one hand in front of your BP (out of striking range, which is around half the snake's body length) and move your fingers around to distract him. Once he is focusing on your hand, go in with your other hand from behind and pick him up. It's best to do this as quickly and confidently as possible, because the longer you hesitate, the more nervous and riled up your BP gets.
Once your BP is in your hands, put him in your lap and cover him with a towel. They feel safe in dark, enclosed spaces and this will reduce the chances he'll try to bite you, especially if you just leave him in your lap without holding him. Even if he does try to bite you, keep him on your lap anyway. Let him get used to your smell and being close to you, and that will help him learn that you won't cause him any harm. If you really don't want to get bitten you could wear long sleeves and some gardening gloves when handling.
Many people have had amazing success with taming defensive snakes into calmer ones. Some snakes also never fully become tame and always have a tendency to strike. Some snakes are just like this and that's okay. They all have their own personalities, and the nice thing about snappy BPs is that they tend to be good eaters. The important thing to remember is that BPs bite out of fear, not out of aggression, and good ways to reduce fear are getting them familiar with you and acting confident when you are handling them.
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