This sounds like what my DD is like. Even at 3 she is still the same although the sleep is much much better. What i found worked for DD was putting on a fav show of hers the Mr Bean cartoon of all things lol She would sit still long enough to just wind down that little bit and would happily go to bed afterwards.
I know alot of people will say TV is the last thing to try but in DD instance it was the only thing that would work. Once we made our way to bed we would read a book tuck her in and that was it