Baby won’t sleep in crib HELP

I need advice please. My 12 month old hates his crib, and I’ll be honest, he sleeps in my bed. I know this is frowned upon. The only way he sleeps in his crib is if I sneak him in there when he’s asleep but 9 times out of 10 he’ll wake up upset. Also, he doesn’t like naps either. I’ve seen videos on YouTube where moms put their babies in their cribs and the baby knows it’s nap time and just happily goes to sleep for like 2 hours and I’m so jealous but also can’t help but feel like I’m failing. I just don’t know what to do! I feel like he’s getting too old and needs to be in his own crib! HELP!