What’s the best way to leverage 401K’s to buy rental properties?

[Tom Arttus]

Hi BP group,

I, and I'm sure many, have a lump sum of money in a 401K/IRA. I currently have my money is a self directed IRA and use it for hard money loans. I flip the funds and do well with this strategy. However ideally I'd like to take it out of my 401K (without penalty?) and invest it in real estate. I know I can invest in real estate inside of my 401K, but than I don't see the cash flow now. While I'm not looking for a quick fix per se, I am looking for cash flow so my wife and I can leave our W-2 job and spend more time with the kids/family.

Podcast, books, advise all welcome.