1) you can start the bedtime routine earlier... so that it does not take 1 hour or by the time their actual bedtime is... it does not get later and late.
2) My kids and I, enjoy the time before bed... when we talk and chat in the dark. It is a bonding time. They and I really love it. And it calms them down and it is a time where they tell me their thoughts/feelings and whatever happened that day. Or whatever may be bothering them.
So I find this time, invaluable. And needed for my children, and me. My Husband as well, will do this with them. So that in itself, is nice.
3) Sure, I may sit or lay by them. But again, this time is a bonding time and where me and my kids chat about all kinds of things and whatever questions they have. It is a neutral, time to talk about anything.
4) My kids are 5 and 9. We read books too before bed. Or they read to me. So again, I find this time, fruitful and nice and beneficial for them and me.
5) I don't lay or sit by them in ORDER to get them to bed. It is an activity we do, BEFORE bed. Not in order to get them to bed or to sleep.
So there is a difference.
My kids fall asleep on their own.
But BEFORE bedtime, we do these things.
6) I get my kids, into their bedtime routine, 1 hour, BEFORE their actual bedtime. SO that, we don't have to "rush" and so that, they still go to sleep at their regular time. Not at a beleaguered time.
7) you explain to your kids.... about the routine. And when the routine is over, Mommy leaves and they go to bed.
I am sure they can fall asleep on their own, at these ages.