Actually, till they are a year old or more, they don't hurt at all. They are all Hiss and Puff. That said, I don't want them hurting their teeth either, so I use those cheap rubber dish gloves that cover half your forearm. I just put them on and grab them up. I reach in AT the head with a gentle push down with my palm and then pick them up with the other hand. Try that out and let me know how it goes.