My daughter liked foot massages at that age, and today she still does. It's called reflexology, and its very relaxing.
But each change takes time... and consistency. Continue to have your Husband do the night time going-to-bed routine for your daughter...because once you have your baby, it will be hard to do it both for your newborn and your eldest child. That is what me and my Hubby did. I too, am attachment oriented... and I did not let my kids cry...but they have good sleep habits and I had a routine for them for naps and bedtime, the SAME routine everyday.
Also, 2 years old is a time, developmentally, when a toddler may start to have "night time fears" or nightmares... so keep that in mind... and she might want to come and sleep with you/Hubby etc. I don't know if you co-sleep or not... but for my family, we have a spot in our bedroom for our kids, should they need to come and be near us, and I co-sleep with them if needed, since my kids are older now. We have a floor futon on the floor of our room and it is all cozy... and that is where the kids can sleep, should they need to or if they are lonely or have nightmares.
It really works for us and we have no problems at night or with the kids going to bed this way, or in their own beds.
See what works for you... but I REALLY recommend that your Hubby do the night-time routine for your daughter and putting her to sleep... you will be too busy with your newborn and you will need to nurse and rest whenever you can.
Also try and give her a "lovey" and her own personal flashlight... (my kids love theirs for bedtime).
From about this age, and as the first respondent said... a child CAN INDEED learn to self-soothe... and they are mature enough, although it is the "routine" and closeness of the parent that they may miss. Because after all, at this age... a child's emotions are developing more. For me, I would lay down next to my daughter, in her room, and then read to her. Then gradually I would just sit in the chair in her room... then gradually my time spent there got less and less. My daughter just liked having "company" as she fell asleep. And for any glitches or times of need... then she could come in our room, on the floor futon and sleep there. We had no problem with that, and/or I would co-sleep with her until she fell asleep... then I could just get up and go do what I want.
All the best, just some ideas,
Susan