When my oldest child was born 22 years ago, I had done extensive reading about babies. I had never read anything that said, "You must hold your baby until it's asleep, then try to lay it down without waking it up," so honestly, that thought never occurred to me. It just made sense to me that when a person is tired, they go to bed and fall asleep in bed, so that's how I treated my babies. (My kids are 22, 21, 14 and 10.) When they were tired, I lay them down in their bed, and they fell asleep, from the day they were born.
I honestly did not know that other moms didn't do the same thing until they started telling me. I had a friend over when my oldest was just a few months old, and I said, "Excuse me, I need to put the baby to bed." I could tell she was tired. So I walked into her room, lay her down and went back to the living room. My friend said, "That's IT? I thought it would take forever!" I was totally puzzled until she said, "I rocked my babies for hours before they fell asleep!" By that time, my daughter was sound asleep and my friend was even more amazed. I was very puzzled.
Very, very rarely did my kids cry when I put them to bed. When they did, I went in and rubbed their backs, but left them in bed. When they were sick, it might take a while. My kids have had very few sleep problems. My youngest is the only one who ever spent much time in our bed, but even then, we just lay her down and expected her to go to sleep, and she did. After she turned 6 months or so, she was always in her bed.
My kids are happy and affectionate, and sometimes too cuddly, so don't worry! :)
I know this isn't quite the story you're needing, since I never really had problems, but I wanted to let you know that what you're doing WILL help and WON'T hurt!