To address the technical bottleneck in the load-out and transportation of floating production storage and offloading (FPSO) topside modules, this study focuses on the grillage structure optimization, self-propelled modular transporter (SPMT) configuration improvement, and transportation process innovation. Through in-depth analysis of the limitations of traditional load-out schemes—such as tidal adaptability, efficiency in grillage installation, and the risk of SPMT retention—an innovative two-stage jacking, transportation, and load-out scheme is proposed. The research demonstrates that optimized load-out fastening structure and refined transportation process significantly enhance load-out efficiency and effectively mitigate transportation risks. This study not only provides a reliable technical solution for load-out and transportation of FPSO topside modules, but also offers valuable practical insights for the transportation and load-out of other marine equipment.