We present numerical magnetohydrodynamic (MHD) simulations of a magnetized accretion disk launching trans-Alfvenic jets. These simulations, performed in a 2.5-dimensional time-dependent polytropic resistive MHD framework, model a resistive accretion disk threaded by an initial vertical magnetic field. The resistivity is only important inside the disk and is prescribed as eta = alpha(m) V-A H exp (-2Z(2)/H-2), where V-A stands for Alfven speed, H is the disk scale height, and the coefficient alpha(m) is smaller than unity. By performing the simulations over several tens of dynamical disk timescales, we show that the launching of a collimated outflow occurs self-consistently and the ejection of matter is continuous and quasi-stationary. These are the first ever simulations of resistive accretion disks launching nontransient ideal MHD jets. Roughly 15% of accreted mass is persistently ejected. This outflow is safely characterized as a jet since the flow becomes superfast magnetosonic, well collimated, and reaches a quasi-stationary state. We present a complete illustration and explanation of the accretion-ejection mechanism that leads to jet formation from a magnetized accretion disk. In particular, the magnetic torque inside the disk brakes the matter azimuthally and allows for accretion, while it is responsible for an effective magnetocentrifugal acceleration in the jet. As such, the magnetic field channels the disk angular momentum and powers the jet acceleration and collimation. The jet originates from the inner disk region where equipartition between thermal and magnetic forces is achieved. A hollow, superfast magnetosonic shell of dense material is the natural outcome of the inward advection of a primordial field.