How to help toddler fall asleep on her own?

She's almost 2 and until now she's always been using the boob to fall asleep or she would be rocked to sleep. Now she's weaned and getting heavier, these are no longer options for us. We want to teach her how to fall asleep by herself. We know routines are hard to break, but better now than never. Letting her cry to sleep is not an option.

We need help on how to get started please. ❤️