Expensive baby?

I have always wanted a family young and at my age I feel like I am very far behind for where I want to be. I know in the big picture I have plenty of time but if it was my choice I would have had a baby like yesterday. 
It's mutually agreed on between my fiancé and I that we are waiting until after we are married. So we plan on starting to try in January of 2017. The main thing that is causing hesitation is money. We are surrounded by people that make 6 figures and raise their kids in accordance.
We make slightly below 40k a year. My fiancé will not be done with college for another 2 years. But I can't imagine waiting that long. I'm are wondering if it realistic to raise a family comfortably with that income.