You can get beam clamps sized to any standard beam size. These can come with a D-Eye on them through which you put any kind of attachment you like. There are all different kinds, below is just one example.
HELL YES!!! I’d grab the I-beam directly, but my hands are quite prone to injury.[/quote]
The beam clamps suggested are good, but are probably attached using a wrench and might be impractical if you want to take them down after you are done using them.
I would suggest variations of these: