K., sweetheart... this is gonna be hard, not only for you, but for your daughter. But what you have to do is let her scream. Any book, maybe even your mother, will tell you that for her to learn how to comfort herself..... put herself to bed, that you have to put her into bed at bedtime, in her own bed.
Now it's a great idea to have her fall asleep with you and then you put her in her own bed. But once you put her in her bed.... leave her! You know when her cry really means that something is wrong...like i'm wet, or i'm hungry. wait for those cries before you go and pick her up. Now if it's not one of those cries, and you just can't stand letting her cry, go in and pat her back, sing to her....but DO NOT PICK HER UP!!!
It's supper hard, again, for you and for her. But the sooner she learns that bedtime is bedtime, and that your bed is your bed...the better. Also, don't give up, I thought that my son would never sleep on his own....and yes sometimes I would put him in bed with me. but once I got over it, it seemed that so did he. And he knows that bedtime is bedtime and that my bed is my bed. Well I hope that this helps! P.S. it is ok to let children cry, it helps build up their lung muscles, and teaches them to comfort themselves.