Co-sleeping transition

Both of my children have been sleeping with me since they were born. My son is 3 & my daughter is 14 months. I've started the transition into their own beds this week because my boyfriend & I are trying to conceive & sex with two small children in the bed just isn't very desirable! They both have been waking up constantly & crying for me to comfort them which I knew would happen but are there any tips on how to get them to self soothe  besides the cry it out method? I don't feel comfortable just letting them cry plus they are in the room together & if one is screaming they will for sure wake the other! Help!