we've done the same thing for 5 years now & it seems to work out OK. we always start at the same time each night.
7pm - bath, jammies, nursing (only when the kids were infants), rock them while i read 2 books, brush teeth & go potty, last book, lights out, each child in his own bed, prayers (this way i am still in the room for a bit after the lights are off, the kids get used to the dark while i am there) good night kisses, close door.
the kids never took pacifiers, not sure why, and always babbled themselves off to sleep. if i rocked them at all, i never let them fall asleep while i was rocking them. when they were younger & woke up in the late night/middle of the night for feedings, i changed them , fed them & put them right back down ( no playing, no rocking, nothing but food).
since they went to bed at the same time, they woke up about the same time everyday, so it also naturally led us into a kind of schedule during the day. it wasn't set in stone, but we were always within about 15-20 minutes for feedings, naps, awake time/playtime, etc.