Yep, I second (or third?) the “Healthy Sleep Habits, Happy Child” recommendation and also we liked some aspects of the Ferber methods. (Not the total “cry-it-out” style..but he has some good thoughts.)
Our oldest (my step-daughter) was born with chemical dependency issues because of her bio-mom—so nothing from our experiences with her disordered sleeping and physical issues would be relevant unless you have a baby that shakes as if she is suffering from severe Parkinsons and cannot sleep for more than 15 minutes at a stretch. If so, god help you, and PM me.
It was far simpler for our two other children. They co-slept until about 3~6 months (as soon as they were able to sleep for more than a few hours without needing to breastfeed). Then we started a bedtime routine (bath, book reading in the rocking chair, one more nursing session, then to bed in their crib) at about 6 months. If they woke in the night, they’d come into the bed (or rocking chair to be fed) and we weren’t sticklers for putting them back in their own bed at 3am or 4am..but they both managed to learn to fall asleep and go back to sleep on their own by about 12 months or sooner. Both were champion sleepers (12–14 hours each night, a good 2~3 hour nap each day) by their 1st birthday..and to this day they both like going to sleep in their own beds and will routinely sleep 12 hours (if they don’t have to set an alarm or get up at a set time).
Both were transitioned to toddler beds once they started climbing in their cribs (to prevent falls) just about age 2. And by age 3 or 4 they both had graduated to regular beds of their choosing (a loft bed for one, the other has a regular twin-size bed).