I use a pair of long nosed forceps from my fly fishing gear and keep the flashlight on them with one hand while grabbing them with the forceps.
It works great except you end up grabbing the soft (Hairy ones) too hard most of the time.
*EDIT*
Here's a couple of pic's of the one type I had lot's of.
I think it's some kind of rock crab.
Notice the red eyes in the first pic? They almost light up like LED's when you shine the flashlight on them at night.
Also, I've never seen one of these during the day. (But removed 6 in the dark!)