I’m a gentle content fan so will tend to prefer (what might be considered) more gentle methods with my maximum size being approximately 4 inches (or a ~1:20 ratio). But like some other responses here, the pick up and holding technique are dependent on the context. I have 3 preferences.
Generally, I like having the hand down and open for the tiny to crawl, step or hop into. This acknowledges some of the tiny’s independence and ability to make decisions, before being engulfed by a hand at least twice their height. The fingers can be curled slightly for some added protection and stability for the tiny, especially during the initial lift. Allows for air flow, some movement on the tiny’s part, quite a comfortable and flexible position for the giant: 10/10, preferred method.
In moments where time is fleeting, or the giant’s patience is wearing thin, a solid grab and fist around the tiny’s body may be more appropriate. For the tiny’s comfort, ideally their head, shoulders and arms are free, but this can’t always be guaranteed. The grip must be firm with the potential tighten (perhaps to teach a lesson, or as a result of rising tempers, maybe both). More of a symbolic gesture than a transport method, so excellent for proving a point of who is the big man, but grip tightness may be difficult to control (could also be triggering for claustrophobia): 7/10
Another symbolic gesture, but I think is better suited for playful or teasing situations, is the fingers and thumb pinching the torso and/or hips. Pinching pressure is much easier to control than a meaty fist, so force can be adjusted as appropriate. The tiny is exposed and their legs are free and left to dangle, kick, wriggle etc. but a firm hold and good placement of the fingertips can keep the tiny from wriggling out. To me, something about this method emphasises the size disparity and the diminutiveness of the tiny more than a fist - whilst the fist is a natural symbol of power, seeing someone held only by fingers seems more dehumanising as the tiny is reduced to a dangling exhibit. Better suited for short distance transport, but comfortable for lifting the tiny up to or above head height: 9/10