Note: Spanned disks are not supported.

From 8.2.1 and onwards the Restore Virtual Disk functionality introduces a new restore mode 'Instantly mount select Virtual Disks directly from the Backup Data'

You can access this option by navigating to the [Restore] > [Restore Virtual Disk]. In the 3rd Step you'll get an option to choose this new restore mode.

Once the virtual machines' disks have been mounted you'll see something like so:

Next simply click on the drive letters in order to open up a Windows Explorer window with the contents of that disk.

Ensure that when you're ready you [Unmount Virtual Disk] as otherwise backups will not be able to run.