Distributions from a Roth 401(k) are a proportional mix of contributions and earnings, so unless the investments lost value, some amount will be taxable and subject to early-distribution penalty unless the taxable portion is rolled over. To avoid the tax and penalty you can either receive a distribution and roll the taxable portion over to a Roth IRA (rollovers consist first of the taxable portion of the distribution) although there would be some mandatory tax withholding doing this, or, probably preferably, asking the 401(k) plan to directly roll the entire distribution (perhaps the entire Roth 401(k)) over to a Roth IRA (avoiding mandatory tax withholding) and then take out just your contributions using the Roth IRA ordering rules which dictate that your original contributions to the Roth IRA come out first, tax and penalty free.
