Help! 😭

Help meeee 😭 I’m a FTM and I’ve tried everything. When I was a SAHM, I spoiled my baby a bit, I admit it. He will go to sleep in his swing, (sometimes)...the babysitter gets him to sleep in the swing. But he also doesn’t nap as often there as he does at home, because of the noise. Anyways, he pretty much is rocked to sleep. I don’t mind that. But he sleeps with us, and literally on my arm every night. I’ve tried to put him in a pack and play in our room to sleep in and it just doesn’t work. I’ve tried to put him in there before he is completely asleep, I’ve tried to put him in there when he is in a deep sleep...I’ve tried the cry it out, where I let him cry for 3 minutes, go in, let him know it’s okay, and then 5, and then 10, but he never stopped crying the whole time. I don’t really like the cry it out method at all, but I was desperate and it didn’t work. He wakes up almost every single time I put him down. And if I do happen to get him to sleep on our bed and not on me, he will sleep for way less than he does when on one of us. What should I do? Help meeee 😅 I enjoy my time holding him on my days off, but I’d really like the bed back to just my husband and I.