Any gardeners on here?

I'm trying to get a veggie patch going and I've been failing miserably planting seeds and hoping they germinate in the soil.

I also tried in seedling trays and they also didn't germinate.

So I put them in paper towel and covered with clingwrap (or Saran wrap, I think that's what it's called in the US). And half of them have sprouted.

But now how do I transfer them to soil without them dying? I plan on leaving them in the paper towel for a little longer because, even though they have their little leaves, I'd like them to be a bit stronger.

What can I do to ensure their success?

It's broccoli and mini cauliflower.