I actually did it both ways, because I transplanted two sets of transplants.
Early on, inside, I separated a couple trays of the seedlings into individual yogurt cups abd put them back under the lights to continue growing. Life (and a death) interrupted the process for the other seedlings.
So, this last batch went in as clumps. I dug a fairly deep hole and set the whole tangled root ball down. I press it in firmly. I set these clumps fairly close together, to, since I'm don't expect to get roots at this point. But, I do anticipate tons of beet greens, which are delicious!
In the fall, I'm going to just throw out the seeds, and thin from there. That way, I should get a good crop of beetroots.
Hope this helps.