Getting baby to sleep on his own

My 10 week old will only fall asleep if I am holding him, rocking him or walking around with him. He will only stay asleep if he is laying on my chest. If I set him down anywhere (crib, bassinet, swing, etc) he wakes up right away, even if he is sound asleep! He sleeps through the night in a cosleeper in our bed, but he falls asleep on me first after his last feeding then I move him to the co sleeper. I’m wanting him to get more comfortable sleeping on his own. Any tips to get him to nap without me during the day?