I used to poke my mantis to get it to go forward onto my hand, but over time learned to just slide my hand under him and he'd step onto it. If people were watching me, I'd say "step up" and it would look like he was trained, lol. Also, he would try to climb anything larger than him and moving, including my phone whenever I'd try to snap a picture, my hand, and people across the room.
The tricky part is getting them to go back in their enclosures! I always used a stick or similar long, narrow object but even then it was a ten minute struggle because my mantis would just never sit still.