SOS MAMAS!!!!! Sleep training and weening

Hey y’all!! I have coslept with my little one for this whole first year with no issues up until recently. With my baby being so mobile now he crawls off of the bed. I’ve been having him sleep part of the night in his playpen or his crib, but he still wants to sleep with us and more recently wakes up frequently through the night. I need to sleep train him. We have also started only breastfeeding at night, so this has made him a little extra cuddly and attached at night. I need to hear some advice/ tips/ help/articles/ books/ methods/anything that worked for you all. We are trying to establish a full routine over all ei: eating, sleeping, bedtime routines, and morning routines,etc so please comment and help a mama out!!!