Start whispering to him before you ever pick him up. Make this a habit every time you are working in or around his cage.
Lay your hand flat on the bottom of the cage, palm up. Keep whispering or talking softly. Then scoop your hand quickly underneath him and lift him directly out of the cage, blocking escape with your other hand. Keep whispering or talking softly.
Now sit down in a secure location where he cannot escape and hide under the couch or something. Now place him on your pectoral muscle (I put my beardie right on my boob) and keep your hand over his back, with thumb and forefinger lightly holding his neck/shoulders to prevent forward motion.
Keep whispering. If you're sitting down, a jump will hopefully not be far enough for him to make a real break for it.
I hold my beardie on my chest while doing a variety of other things, and he is very used to my touch.
Another thing that's helped is that I hand-feed my beardie a lot. They have great aim and that nice sticky tongue. Grab mealworms and just pinch their tail, put your hand somewhat close to him and hold still. It might take a while the first time! My beardie is very used to my hands because I hand feed him, I feed him from my palm while holding him, and I generally handle him a lot even if he's squirmy. I always whisper or talk to him and I don't give up. Don't reward a squirming lizard by putting them down - they'll just learn that's how to get put down.
My beardie is still a spaz, but he doesn't try to leap off me anymore and he genuinely seems to look forward to handling. Probably because I reward him with treats and take him out into the sun and warm aluminum roof to bask!