I'm with marc that you cannae teach them...but you can show them! (hmm but then the saying 'take a horse to water...' does come to mind :rofl).

the two things that have worked for us with DD1 and are starting to help with DD2 are as others have mentioned: swaddling (we do a double swaddle..ie two wraps, one over the other...harder to bust out of lol) AND importantly showing her that where she is going to fall asleep is a safe place. our big rule for ourselves is that when we are trying to get her to sleep we keep the stress and frustration at the door (hard to do when everyone is tired and it's been a whole day of unsettled bubba lol). it also means that for us, the lights go off at night in the room and i that's when i change her nappy, wrap her and feed her. then i gently transition her to her bed and use a low gentle voice telling her i love her lol! like seriously! then i leave the room. if she cries i wait only a handful of seconds and then go back in and gently place my hand on her belly so she knows that i am there and i tell her i love her again (using the same voice). i also do the 'shhh' noise in a gentle quiet voice as it seems to calm her down...i guess a lullaby would work similar...but i can never remember the words LOL! if she then settles and stops crying and calms i then tell her i love her and walk back out. if she keeps crying and is getting scared (cause i am trying to have her bed associated as a 'safe' place for her and this is how we manage that as best we can) i then pick her up and pop her on my shoulder and cuddle her until she calms. then back in her bed and out the room. if after the second round of this she is still not settled, i sniff her nappy (nice i know bahahaha) to check, and give her feed and start the process over...

sometimes it can go a couple of hours, especially in the beginning, but i found it to be the least stressful as she doesnt get massively crazy hysterical ITMS. and we have found that now she is able to settle (on the whole...new babies are notoriously happy to change it up lol) with just one round of wrap, feed, sleep. (FWIW our bubs also doesnt, or rather VERY rarely feeds to sleep).

seeing those tired signs is the KEY i reckon as well. if you miss the boat, you miss the boat lol. and it can mean that it takes alot longer to get them to feel safe enough to fall asleep (well, that's what i have found). some sleepy signs are the jerky hand and leg kicks/movement, sucking of fists, staring into the void, trying to avoid eye contact etc. its a great idea to really get to know their signs as each baby has subtle differences...marta for example has this weird mewling grizzle that she does intermittently when she is getting tired and it's my best sign yet to get her into bed...

HTH and good luck babe, i find sleep with a baby the biggest (read: trickiest lol) part of the whole show lol.