You may not have enough time for this / or have already tried it. After our bedtime routine, I read books to DD then turn out the light and then talk to her quietly about what has happened that day, or what is going to happen tomorrow. Then I tell her its time to go to sleep and that I will stay for a little while. I then just close my eyes and pretend to sleep. She normally falls straight to sleep or at least gets drowsy enough for me to give her a kiss and leave the room.

Luckily for me, the baby goes to bed before her so I have the time for this.