For the Red and Orange ones, since I find the jump technique makes me take too much damage, I like to rush them. I stab them high then low then high etc. Although, you do need to be on the look-out for their attacks. I also find if you run in, stab it, retreat, repeat, also works sometimes against them.
For the blue ones that shoot beams from their swords, hit them back away and block their beams then go in for another hit and back away to block the next wave of beams.