Any tips on transitioning from bed sharing to crib???

I don’t mind nursing my son to sleep, the part that we’re struggling with currently is him waking up with almost every movement I make at night. Also, recently I started becoming less of a light sleeper and I haven’t been feeling my son roll around the bed. I don’t want him to end up falling so we really gotta move him into his crib. I don’t need him to self soothe, I just want him in his crib because I can tell he’s not comfy on our bed anymore. HOWEVER, every time I place him in his crib, he wakes up right away and cries...a lot! Any helpful/positive tips would be greatly appreciated.

P.s. I give up on the sleep training thing. I like soothing and comforting him, that’s what I’m here for. We saw a pediatrician yesterday and she confirmed there is nothing wrong with his night feedings or with comfort nursing. With that being said, I don’t wanna hear the judgements about that part, thanks.