J.R.
This is similar to another suggestion but worth a repeat...
A friend of mine was given this suggestion from a co-worker and it worked for both families like a charm.
Give the child a treat (they used mini Oreo cookies) close to bedtime and tell him if his feet don't touch the floor until morning (and there are lots of ways to explain how they can tell it's morning- by how light it is, by the hands of a clock touching the stickers you put on "morning", etc) he can have another treat with breakfast. This may sound over the top (a cookie with breakfast) but it's precisely in the "treat" factor that made this work so well. They said it took 2 nights for it to work and then a few weeks to wean the kids off hte cookies, but it was totally worth it.
Gatting him to stay in bed may be all you need to get him to sleep- maybe set him up with books, a few quiet toys etc and tell him they can stay in bed with him if he stays in bed too.
You know your child best and you know what would motivate him to change his behavior so use that to help you.