C., I'm so sorry you guys are going through a rough transition period right now - I understand wanting to cosleep (we did with our daughter, now 3.5 yrs old, and do with our 6 month old son who is crawling... we do 1/2 crib in our room and 1/2 in our bed). And I understand wanting more sleep and wanting to make the transition to "her own bed." I really empathize!
Maybe you've already tried these possibilities, but in case not, what about:
* sidecar bed - similar level to your bed, but her own "real estate" so that you and your husband have more space?
* maybe try to put her to sleep in your bed, give her 20 minutes or so to get in a deep sleep where she's limp (test her arm to see if she's floppy!), and gently move her into her crib, making sure to ease her bottom down first and keep her head up so she doesn't feel like she's falling, and try to make sure that the sheets on her crib matress are not cold to the touch (flannel or lightweight polarfleece are warmer to the touch than plain cotton sheeting, for example)... as she gets older, more mature and able to understand, include her in plans/talks about making another gradual transition of getting her drowsy but not asleep and then put down to sleep in crib in your room
* check out the book "Good Night, Sleep Tight" by The Sleep Lady (http://www.sleeplady.com/) - she has a milder approach than Ferber or Weissbluth's Cry-It-Out, and her book is broken down by age group (birth to 5 yrs old, I believe)
* do you have a good, consistent bedtime routine to ease her from the end of her day into sleepy-mode?
* can she crib sleep for the first half of the night and join you for the 2nd half - meaning, would that be an improvement for you, the parents? you could start there and gradually increase the portion of her night that she sleeps in the crib
I personally can't do the scream-it-out method, which I think is different than fussing to sleep (some kids have a little fussing jag, but it doesn't escalate - it's them soothing themselves - they're not scared, angry, raging, just some small fussing that fades out over 5-20 minutes whether they're in your arms or in the bed or in the crib). But for the CIO/screaming method, I do think that it really depends on just how sleep deprived the parents are -- I think CIO is often just a desperate (not meant in a negative way!) although somewhat misguided attempt at a quick fix. What a lot of people who do CIO don't tell you is that you often have to do it multiple times as kids go through different developmental stages. I'm sure there are some kids who CIO for 45 minutes and never again make a peep for the rest of their sleeping nights, but I believe that is rare. For many, CIO is not the silver bullet that so many promise it will be.
Overall, I guess I'd vote for something more gradual, if your current level of exhaustion allows it. ;) Best of luck to you!