R.,
I'm one of those moms who insisted on the babies (we had twins) sleeping in their own crib-they shared a crib for a few months then we separated to two cribs. My reasoning being that they needed to learn to be good sleepers on their own so that for the rest of their lives they would be good sleepers. So far so good. My boys are about to turn 6 and they sleep wonderfully. OK, now that I've said that, let me suggest a few things for your sitaution. I do understand co-sleeping but it creates this kind of situation where you eventually have to kick the child out of your bed so you can have it back to yourself and spouse!! And the child really does need to learn to put themselves to sleep.
My suggestion is to start on a Friday. Tell your daughter that she is such a big girl that she will now 'get' to sleep in her own big girl bed. If/when she gets upset, let her know that you will lay with her for a while until she's really really sleepy. It may help to let her pick out a new set of sheets or something to get her excited.
Friday night: follow your usual bedtime routine but put her in her own bed instead and lay down with her. Tell her that you will lay with her for 15 or 20 minutes until she's sleepy. Then do it. When you've clocked 15-20 minutes, get out of her bed - quitely. If she is asleep, then ok, but is she gets upset, quitely tell her that you will come back up and check on her again in just a little bit. The calmer you are, the better this will go.
I say start on Fri night since she may just get really upset and you might not sleep until late. No matter what you do, once you start this process, don't let her back in your bed. Later (much later) after you have successfully broken the co-sleep pattern and she is putting herself to sleep in her own bed, then occassionally let her sleep with you two as a treat.
Each night, after you start this, lay with her for a few less minutes. After a while, you won't even lay with her. Maybe just read with her in her bed and when the book is done, you tuck her in and leave.
Consistency and patience are the only things that will get this transition complete with as little 'drama' as possible.
Good luck!!!
Julie