Tips for transferring sleeping baby from arms to crib?

FTM here. My 10 week old regularly falls asleep when I burp her on my shoulder. How do I transfer her to the crib without waking her up? She has not yet mastered going to sleep when she is 'drowsy but awake'.

Transferring her to the crib regularly takes 4-5 tries when she is against my shoulder. If she is sleeping in my arms in a horizontal position, it is somewhat easier, but I have severe wrist pain which prevents me from holding her horizontally for long.

Any tips?