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Hopefully your smaller ham will gain confidence once he's had time to settle on his own, it may take a while so patience is the key!
What kind of cages do you have?
With barred cages you can begin by offering treats through the bars if they'll come close, once they've done that you can try putting your hand in the cage, this is easier if you have a front opening door as approaching from above can scare them, if you have to come in from above still try to approach them from the side as you lower your hand, with tank style cages you can just try laying your hand flat on the substrate with a treat, keeping it still & waiting for them to come to you, this can take quite a few attempts depending on how confident the ham is, some people prefer to use a taming bin doing the same thing, it's good to have a wheel, some substrate from the cage & maybe a toy or two from the cage too so it has their scent on it, either use a separate bin for each or clean the bin between hams.

As long as bar spacing is 1cm or less with no larger gaps & the doors close securely then you shouldn't need to worry about escapes.