I had a very similar situation with my daughter. I didn't mind rocking her (after 19 months of nursing, I didn't know what to do to get her to sleep) but I realized with number 2 on the way I needed a little more time in the evenings. I also couldn't do the cry it out method. Here's what worked for me (although my daughter was nearly 2 when I started it so her language and comprehension was a litte more developed simply because she was older). We did our normal bedtime routine (bath, book, talk about our day) then, when that was done, instead of rocking, I put her in the crib and told her "mommy is going to sit right here in the rocking chair and read a book... you can go to sleep but mommy is right here." The first night she cried but, given I was 5 feet away in the rocking chair, I simply told her I was still in the room, gave her a hug and went back to the chair to read my book (I bought several books and a reading light so I was entertained). The goal was to get her to fall asleep on her own (i.e. without rocking or nursing). Plus, I didn't feel as if I was "abandoning" her. She was fine in her crib and would go to sleep so long as I was in my chair (as she would tell me "mommy sit chair." Not to mention, I got alot of reading done). After I felt she had mastered falling asleep on her own, I told her that mommy had to go do something (I picked any activity.. wash the dishes, start the laundry, etc) that didn't take too long (maybe 5 minutes) and I would be back to check on her. After 5 minutes I would go back and check on her and then resume my position in the chair. She cried for the first 2 weeks or so (but we are only talking about 5 minutes). After 2 weeks she didn't cry but was certainly ready for me to come back after the 5 minutes. Once she conquered the 5 minute time period, I did activities that took longer, eventually leading up to "mommy is going to take a shower." Eventually, she was so comfortable in the knowledge that I was going to come back and sit in the chair after I had done my activity that she'd fall asleep in the interim. Now (after about 3 months), I'm able to put her down, wide awake and leave the room and she falls asleep on her own (although she still doesn't make it through the night... that's my next battle to conquer).
Sorry for such a long response but I've been where you are. Good luck!!!