I used to settle Izzy by rocking her cradle until she would doze off, she would cry but not a distressed cry just that,"Im tired and cant for the life of me figure out how to get to sleep " I slowly phased out the rocking before I moved her to her cot - same routine as I do now. I would pick her up in the lounge or wherever we are and say "Time for a nap now, you are going to have a little nap now" over and over in a sing songy voice, then "ssssshhhh" while she was in bed. I slowly started rocking the cradle less and less just before we moved her at 3 mths because I knew I couldnt rock the cot!! but kept up all the other cues. Now shes in her cot the verbal cues are the same, and I occasionally have to rock, sing or cuddle her before putting her down if shes overtired, but she will settle herself.
HtH! Good luck and be consistent - I found over the course of a few days I could see it working and the time spent rocking and settling lessened.