Just time. Sit by his cage and talk to him, let him get used to you, your scent and your presence for a few days. Then try, wearing gloves if you are afraid, just having your hand on his cage and petting him, but not picking him up. Do that for several days, then you can try gently picking him up. Eventually, he will learn to trust you, and you will learn to trust him, and won't need the gloves.

To a wild hamster, being picked up means someone is about to eat you, so it is a natural instinct you need to overcome.