Method for offloading a fluid that forms a hydrocarbon vapor using a soft yoke

A method for use in deep water, for dynamically connecting a fixed for floating vessel to a floating transport vessel using at least one telescoping mooring arm, and for flowing a fluid that forms a hydrocarbon vapor to the moveable floating transport vessel with offload flexible conduits that adjust to accommodate vessel motion, wave motion, current motion, and other weather motion without disengaging is disclosed herein. The method can include using telescoping mooring arms to maintain a nominal distance between the fixed or floating vessel and the transport vessel while forming an enclosed gangway. The method can include monitoring offloading and return of hydrocarbon vapor, providing quick connect/disconnect engagements to the transport vessel, and using an adjustable vapor return flexible conduit. The method can include releasing the transport vessel from the fixed for floating vessel to transport the fluid to another location.