Once the bird is bonded to you and trusts you implicitly, you might be able to get it to step up from inside the cage. I have several birds that have no problem whatsoever doing this (including both my Senegals) and one that stays in her cage until I pay 'the toll'

Isis (a female African Red Belly I've had for a year now) would perch there, looking at me and scratching her own head with her foot, which is her way of asking for scritches, until I put my hand in her cage and give them to her while I softly praise her for a minute or so - and then and only then would she step up to come out when I politely ask her to. And, if she feels that I did not do it long enough (sometimes I am in a hurry and try to 'cheat' her), instead of stepping up she would hold my finger with one foot and grab it with her beak applying pressure to it as if saying: "You better pay the whole 'regular' toll or you will have to pay it some other way"

But it always pays not to assume a relationship that might not be there yet. I am VERY respectful of my birds wishes and never, ever impose my will on them, and they seem to not only understand this but also appreciate it to the point that they allow me to do things that other birds would not. Mind you, I also have birds that I cannot touch AT ALL!
And yes, if you play your cards right, you will be able to have them both out at the same time.