Baby sleeps on me naps on me

Anyone knows how to put baby in crib after she sleeps on me. I bought mamaroo for her but she still cries as loud as she can, I’ve tried leaving her to cry for max a minute but she gets louder and louder and I feel like she can get seizure or something it just scares. This made me buy a cosleeper that you can put on bed but I really don’t think it’s safe.

P.S since newborn stage I have tried everything like swaddle, pacifier or white noise so she could sleep on her own.