R.M.
You could try Supernanny's Stay in Bed Technique. Hugs and kisses goodnight, place child in bed. Leave the room. If they come out of bed, go to them pick them up and say, "It's bedtime darling" and place them back in bed. Say nothing else, even if they try to engage you. If they come out a 2nd time, go to them and say nothing and place them back in bed. If they come out a 3rd time and every time afterwards, say NOTHING, do not engage them or entertain requests for milk, blankies, etc. Simply place them gently back in bed. Consistency and following these simple rules has worked. Its tough not to hug and kiss and get them their final requests, but that only gives them the attention they want. If you don't engage and don't respond, they will eventually get the point and stay in bed and fall asleep. It may take a few nights.