Napping in the crib

Any advice on how to get baby to nap in the crib? Sometimes he’s good and naps and stays asleep in the crib but other times he wakes right up when I go to put him in the crib for his nap. I’ve tried leaving him in there and letting him cry it out but he could cry it out and not get tired. I’m struggling because he only wants to sleep on me and I can’t have time to myself to do stuff around the house. Any advice on how to get my son to nap in the crib is greatly appreciated.