As a freelancer, you log into your account on site and visit the ACCOUNT page. Under the My Money section, there is an option to redeem credits for cash (click on "Get Paid").
NOTE: There is a 30-day hold placed on all users from the time the money was earned (i.e., starting at the moment someone bought an item) before cash can be withdrawn. This is an intentional limitation.
On the resulting page, assuming the 30-day hold has passed, you can cash out your available balance to your PayPal account.
Royalty recipients who also happen to have a publisher account linked to their customer account can alternately use the checkbox under the Affiliate Credit section of the ACCOUNT page to have their royalty balance (or their affiliate credit balance) transferred automatically into their publisher account earnings balance at the end of the month.
This transfer occurs just before end-of-month automatic PayPal payments from publisher accounts, so it allows freelancer autopaid royalties (plus affiliate credits earned in the affiliate program, if any) to be combined with publisher earnings into a single, automatic monthly payment.