I cold crash for roughly 24 hours - 48 hours, depending on how long it takes the temperature to get down to 34F (my target temp). Then just rack off your beer, being careful not to disturb trub too much.
Don't warm it back up. You will have all sorts of problems with CO2 coming out of solution, and oxidation. As an added measure against oxidation flavors... flush your empty keg with CO2 before filling it as well.
Hope that helps!