All mine have learnt to self settle and started out as SHOCKERS> DD1 learnt at 8 months after trip to tresillian. DD2 was 4 months, I just started by deciding when she went to bed she didnt' get up again, so basically lots of patting. Then with DS he doesn't self settle yet, BUT as of last week I decided I couldn't feed him to sleep all the time so I wrap him, put him in cot and leave him until he starts crying, then I go in and pat. If he doesnt go off I walk out for a few minutes then start again. ONly took 2 tries and now he will go to sleep with patting. Not self settling, but he is going to sleep from awake in his cot.
Doesn't stay asleep long necessarily and sometimes it takes three goes (of patting, falling asleep, waking up after 2 mins, repeat) but that's ok. I found it the same with the others and eventually they'll get the drift. And this way is very gentle as you're with them most of the time.
good luck xo
PS At night I feed and then put DS in the hug a bub at about 7pm and then transfer him after an hour. So nights are slightly different, but it means hes' in the deep part of his sleep cycle xo