OK, this might sound weird, but I let my 6 month old sleep on the floor. She nurses to sleep, and it has become increasingly difficult to transfer her to her crib after she falls asleep on the boob. So, I got a thin foam mat and put it on the floor in her room. I nurse her to sleep on it, and once she's good and asleep, I roll out the door. She still wakes once or twice a night, so I just go in and nurse her back to sleep on the floor. I was bringing her into my bed with me before, but she's bigger and more mobile now, and I don't sleep well with her arms and legs flailing on me all night. I do put pillows all around the mat so she doesn't roll around on the floor too much. I don't know what we're going to do once she starts crawling or walking, but for now, this works beautifully.
I totally understand your predicament, and I could never ever let my baby cry it out either. Maybe if I'm still doing this when she's two, I'll think about it:)