Fork lift is generally how it's done at most good yards. Some lesser
places have a craine with harness/straps.
Forks like this can pick up a 32 foot sailboat without any trouble and
I've seen a larger version that could pick up a 36 foot Catalina.
Travel lifts are usually employed at that point.

http://hometown.aol.com/bobsprit/images/racklift.jpg

RB