Self soothing babies

Hi Everyone, at what age did your bub start self soothing? I'm currently trying to get our 14 week old into his own bed as he currently co sleeps and I'm not sure at what age i should be hoping he will start to soothe himself. I've read so many articles that say when transitioning you should always put them down drowsy but awake and pat them to sleep. I cannot for the life of me get my baby asleep in his cot if i put him in there awake. I've tried countless times of letting him cry for a few minutes but he just works himself up too much. Our boy fights sleep every time he's tired which makes it even harder and I'm finding myself spending more time trying to get him to sleep than what he actually sleeps for. He will only sleep if he is being rocked/bounced aswell. He hates being swaddled because he likes to be able to move his arms but we use a love to dream swaddle that's like a little bag on him. Can anyone let me in on their tips and tricks that helped for you?