One by one encourage him to release each foot. Don't pry it off the branch, but encourage a release. Once it's released get your fingers in the way so he grabs your hands, or just block his claws from going for another branch and cup him out. You may need help getting his tail unwrapped. Again gently encourage him to unwrap it, starting with the end of the tail.
If he's stubborn, get stubborn yourself. Don't be rough, but you can be forceful. When I see my vet handle my reptiles, I'm reminded that they're not teddybears.
You need to be willing to stress out your chameleon sometiems if you want to give it a good life.