Putting baby to sleep

Raeanna
How do you get your LO to stay asleep once you put them down at night?? 
I've tried putting my LO down when she's drowsy but she just lays there tossing and turning and grunting until she's fully awake and crying. 
I've been just rocking her to sleep and putting her to bed when she's fully asleep. But I know that's not good for later on and it's always a 50/50 shot of her staying asleep. 
What do y'all do???? I'm desperate!!