Well, when we were still co-sleeping, I would either lie down with Maya on my bed and wait for her to go to sleep (often, I fed her to sleep). When she started crawling, I would then transfer her to the cot, once she was asleep. Once she understood that she can't climb out of bed, I let her sleep on my bed. I still do that, but she falls asleep really quickly now (5 minutes).
Or I let her sleep in the Hug-A-Bub.

Saša