Learning to soothe self

So I’m a stay at home mom and I’ve been on the fence about this for a while. When it comes to my baby taking naps she isn’t one to just lay awake and go to sleep on her own. The doctor says I need to try to let her self soothe but I have also been told by others to not worry about it and hold her/let her sleep in your arms and to enjoy it while she’s still little. I go back and forth all the time about it. She will be 6 months in 2 weeks. I want her to self soothe but at the same time she isn’t going to be little for ever. When I know she’s getting tired and I told her in my arms and give her her pacifier she goes right to sleep. If I lay her down with her binky in her crib she is wide awake and can never settle down enough to fall asleep on her own, then eventually starts crying and doesn’t stop. I also like that she goes to sleep so quickly in my arms because I feel if we are out and about and doesn’t have a place to lay down she will do just fine taking a nap in my arms. Does anyone else have this problem? Idk what to do here..