I did much the same as MadB - I lay DD alongside me and fed first from the bottom boob with my underside arm on (or under) my pillow and the other one just resting on the side of my body facing up (towards the ceiling). I never cradled her head but she was old enough to turn and support her own head well by the time I mastered the technique. When DD needed the other side, I rolled slightly onto my tummy and moved the top arm (which had been resting on my side) so it went between my chin and boob, ITMS.
I could generally go back to sleep easily like that.

It did take us a while to get the hang of it though. I reckon DD was 6 months old or so.