Help with sleeping!!!

NO JUDGEMENTS PLEASE!! Every night since my 18mo daughter was born I have let her fall asleep on my chest and once I know shes fully out I'll move her next to me in the bed. If she isnt right up next to me or some kind of touching she will wake up. I've tried SEVERAL times to move her to her own bed but she wakes up as soon as I put her down and will cry until I come get her, doesnt matter if I stay in the room with her, walk out (door open or closed), rub her back, sing.. movie. She just wont have any part of it. Bedtime and naps.

I'm definitely aware this is completely my fault, i let it continue wayyyyyyyy too long. Everyone kept telling me to break her of it or it was just going to get harder as she got older. They were right. I've created a sleep monster!! Please tell me you have SOMETHING to help us.