John Gruber posted a video on YouTube with a suggestion on a way to easily remove the AirPods from their case.
While it’s a good tip, I find this method too fiddly—especially with gloves on. The AirPods are easily removed from the case, but you’re still having to twist them around and maneuver them with your fingers before you can place them in your ear.
Instead, I prefer the following method, which I’ve also posted on YouTube, of gently applying pressure on the earpiece part of the AirPods, causing them to pivot and rise up out of the case slightly. When picking up the AirPods, they’re already at the right positioning for you to place them straight into your ear.