Nap time nightmare

LO is awful at napping so I’ve been trying to lay him down to sleep while still awake but drowsy but he always ends up crying...

So Ive started let him cry for a couple of minutes only before going to soothe him (he’ll be four months old in a few days) but it seems like when he sees me he starts crying even more!!!! Like he gets frantic and starts screaming and it just breaks my heart I’ve been crying everyday this weeks trying to get him to nap because it’s so hard and I hate hearing him cry... he wasn’t like this until he turned three months and then all of a sudden he doesn’t want to nap ever and it’s a struggle everyday to get him to sleep.

Any advice?