Isn't there another way other than...

Isn't there another way other than the cry it out method? My 3.5yr old still needs someone in bed with her to fall asleep and if she wakes up in the middle of the night she needs someone to help settle her back to sleep. Most nights my husband just spends the night in there with her. Also I have a 15month old who sleeps next to me in my bed. She needs someone to rock her or be in bed with her to fall asleep. And she's still waking up at least once a night to breastfeed. I just don't believe in the cry it out method. It breaks my heart having them cry when I know all they need is me. I've tried it once with my youngest and I couldn't go more than 10mins without crying myself and running in to get her. Isn't there another way? We want to have another baby but there's only two of us and both kids need one of us in bed with them so how will we be able to tend to another baby?