401k/ROTH options for investing in real estate

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Hi all, 

I have a quick question. I see lots of people mentioning using their 401k  or ROTHs for investing in properties, most of which are solo 401ks. I was hoping someone could break down the options for an individual just starting out at a company. I do have the option for a 401k with a match program and I do plan to max out that option. My understanding is there are penalties for pulling out against a 401k before the age of 65? Is there a way to avoid that penalty when investing in a property? 

Thanks!