How do you get your baby to fall asleep?

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How do you get your baby to fall asleep? What is your technique? My little guy is almost 24 weeks and won't fall asleep unless he is nursing or in the car. It's making it very hard to leave him with babysitters because he ends up exhausted and screaming uncontrollably to the point where I have to leave what I'm doing. It's rough. He doesn't like to be cradled in your arms horizontally so I can't rock him, bounce him, etc. The doctor said he does not have reflux so it's not that. Been this way since 2 weeks and I'm starting to want to rip my hair out. I'm not a fan of CIO... please tell me your ways!!