Sleeping schedule

How did you get your little ones on a schedule? I haven’t really been strict with a schedule with my daughter & I probably should. Also, what are some ways for me to start getting her to sleep by herself? She HAS to have me touching her at all times when she sleeps, so that requires me holding her, laying next to her with my arm touching her hand or arm. She’s almost three months old & at the beginning when she was a newborn she slept in her bassinet. But, since we moved, she sleeps with me. My husband & I don’t have a very big bed, it’s a queen but feels like it gets smaller everyday. Anyways, what are some tips on getting her to sleep back in her bassinet? I want to also start getting her use to her crib as I want to fully transition her to sleeping in her crib by 6-7 months.