My lifesaver at night is my tomy nightlight. At night (around 9 or 10) we put him in bed when he is calm (usually after a feed) and i give him some slow belly rubs and put the tomy nightlight on. it plays a lullaby and projects a moving image on the roof. If he starts to cry properly then I pick him up but usually he is tired by then and he just groans and makes a few whingy noises. By the time we have played the nightlight twice (10 mins each time) we are both asleep. Until this time, I intermittantly stroke his belly and chest so he knows I am not going anywhere. I dont stand there looking at him but will walk around the room chatting quietly to DH (or myself) so he isn't getting a lot of attention to keep him awake but knows I am there, and then I will come back and give a few gentle belly strokes. He sleeps next to me in his cot and I think he is a lot more settled for it as he can hear us there. After feeds sometimes he is really awake but I do the same things and by the second play of the nightlight we are both out again.
It might not work for you but you might as well give it a go. We also make sure we don't pick him straight up if he makes a noise. If he is actually getting upset and you know he will cry then pick him up, but if he is just groaning about he may be just trying to settle. Iggy is really good at self-settling now and we don't have any problems getting him back to sleep after night feeds.