Like others have noted, you can convert portions of the 401K to a Roth. Start this about 5 years before you are planning to draw down funds for spending. Google "Roth Pipeline" for more info. Or ladder, as others have noted. I usually call it a pipeline because ladders make me think of CDs, but whatever, I suppose it's the same method.
The way I understand it, you can always take your Roth IRA contributions (but not earnings) out tax free, and so you basically make your conversions the contributions, but then this 5 year waiting period applies to conversions. So for contributions directly made to the Roth, you can take them out whenever. For conversions, you can take them out after 5 years. Any earnings need to wait until 59.5 to be withdrawn w/o penalty. If you have some direct contributions, or older conversions, you don't need to plan out 5 years in advance. I mean, the rule still applies, but you'll already have some direct contributions you can take and some conversions that have already satisfied the 5 year rule. The nice thing about conversions is you can basically name your taxable income for the year, giving you lots of control over what you pay in taxes.
You can also access your 401K directly and without penalty before 59.5 with IRS rule 72T, (aka SEPP or substantially equal periodic payments.)