You can request Auto-Payouts or Early Payouts by setting your PayPal account information in the Manage Pledges/Payouts page.
There are no transfer fees for PayPal payouts.
Check this page for details on auto-payout and early payouts.
The first time you receive a payout via PayPal, you will need to approve it manually at PayPal.
Check the details here.
Please check PayPal's help pages and guides for instructions on registering and using the service.