Snakes actually want nothing to do with humans, more so than vice versa.
If you're sufficiently confident that it's not a venomous snake, then just manually remove it from the interior, place it down on the ground, and it will run for cover on its own. Put on some decent gloves if it makes you more comfortable.
Or, find a container, a stick, and coax it in without using your hands.
Surprised there aren't at least some Herpetology enthusiasts here. As kids, we used to hunt snakes and lizards in the hills, and feed live mice to a boa owned by one of our group.