If the babies have little root nubs, they are ready. Some people like to put them in a little cup with the root nubs sticking into the water a little bit, some like to put them directly into soil.
If you put a baby on the soil surface with the root nubs touching the soil while it is still attached to the mother plant, it won't suffer a dehydrated period like some babies can do when their nubs don't grow into roots very quickly.