Charles Spurgeon Commentary Numbers 4:8-10

"and they shall spread upon them a cloth of scarlet, and cover the same with a covering of sealskin, and shall put in the staves thereof. And they shall take a cloth of blue, and cover the candlestick of the light, and its lamps, and its snuffers, and its snuffdishes, and all the oil vessels thereof, wherewith they minister unto it: and they shall put it and all the vessels thereof within a covering of sealskin, and shall put it upon the frame." — Numbers 4:8-10 (ASV)

There were means for handling these vessels without touching them. I mean, the ark had staves, and the vessels were placed on a bar for carrying them.