First off, you are not a softie. Second of all, co-sleeping is the human norm - putting them in separate beds is not normal.
She will naturally learn to sleep on her own. If you are all happy together, then STAY together. You are not spoiling her and she will not be a sophmore in high school and co-sleeping (anyone who tells you that your are spoiling her and she won't sleep by herself or learn to self-sooth has a screw loose and are completely ignoring human history and evolution). You should read the Harvard study about co-sleeping and the dangers of CIO: http://www.mymammasmilk.com/SayNotoCIO.html
Children ALL (yes - ALL) will eventually wean themselves and show you when they are ready to sleep happily and confidently on their own.
What I do suggest is a tactic I have employed with great success over the years:
Bring your daughter's crib into your room and take the side off. Strap it to your bed and nurse her to sleep in your bed at night, then slide her into the crib. When she wakes to nurse at night, slide her in with you and then try to put her back again. If she protests, don't push it and let her sleep with you and then start all over the next night. Eventually you won't have to nurse her completely asleep - you will be able to put her in the crib when she is sleepy and she will nod off on her own.
When she starts sleeping through the night, you can put the side back on the crib, but keep it against the bed. When she is sleeping through the night that way, put the crib away from your bed but in the room still. You are getting the idea . . .
This is a slow, but peaceful and non traumatic way to get her sleeping by herself. Key to it, however, is to take clues from her. Do not race her along - let her set the pace. It is a time and patience investment, but pays off HUGE in the end - you end up with a confident, loving woman for society at large. She, herself, will be a caring, co-sleeping mom, attentive mommy.
Remember that babies who are forced to CIO experience a break in trust with their parents. They do not understand why they are being rejected, after months of being cuddled and calmed.
Love her, sleep with her, take cues from her. And remember that she is a baby for a fraction of her life - enjoy this precious time with her.
:)