Co-sleeping to Crib

Any co-sleeper moms have any experiences (good or bad) with transitioning baby from your bed to crib? I started co-sleeping with baby after her first couple weeks at home to save my sanity from sleep deprivation. She's 14 weeks now and pediatrician said between weeks 12 and 16, baby will begin to self soothe. I figured now would be the best time to get her in her crib. So far, I've just been putting her in while awake so that she can become familiar with the space. She's slept in there a couple times for less than 30 minutes after I snuck her in while already asleep. I just started reading a book on sleep training but would love to hear any tips to try if this doesn't work.