Co sleeping only works for people who WANT to sleep with their kids. You don't want to. So CIO is your only other option. Be sure she is full from a full day of healthful eating, tired form a good day of play, has a good night routine, enforce when you tell her to stay in bed and let her sleep. Yes, she will cry because she's used to you sleeping with her now. Stay the course. Or keep sleeping with her. You're the parent, just stick with your choice. Either way (co sleeping or not) she will grow up healthy and happy so do what is best for your family and think of the big picture, not the immediate inconvenience of whichever choice you choose.
BTW, if husband was against CIO, he should be the one co sleeping. Why is he alone in his big, happy, peaceful bed if this was all is idea?
I've done both methods. When my kids were infants/toddlers I made sure they were secure in their own beds and used "CIO" but there wasn't much crying because I never waffled so they got used to going to bed on their own right away. Now they're older and we often co sleep if someone is sick, or just for fun, I'm divorced and have a big old bed, but they're fine in their own beds as well so it's no issue. Whatever you choose, just be confident and DO whatever you choose for the sake of your daughter's security and routine. And get husband on board with the choice and make him help.