You can touch them, and pick them up, just pet her first.
Also, be sure there is something to keep them from going through holesin the cage. They are so tiny they could slip through orwiggle through the cage wires, etc. They will move about thecage in short time so you want to keep them out of those areas.
I'm sure some of the breeders here can give you better advice as to what to do now that she's already had the kits.