It’s very easy!
As you normally would perform a transfer to any wallet, this time, input the address of your hardware wallet into the Address field.
Make sure the hardware wallet receiving your items supports the token standard (ERC721 or ERC1155) you're trying to transfer and the network it belongs to.
After selecting the destination address, click "Continue". You will need to pay the network fee to sign the transaction and you can pay that in a variety of tokens.