Is there a reason for being against her crying herself to sleep? Crying never hurt anyone.
It's kind of hard to give any other advice beside letting her cry herself to sleep, which of course is the most effective. all i can say is just place her in the bed, rub her back until she relaxes, then leave. She will cry, but only let it coninue for 10-15 min. Go back up try and sooth her again, but don't take her from the crib. Rub her back and sooth her again. when she stops crying leave. Repeat the steps until she goes to sleep.
I have to say that letting her cry is really the best way. It only takes a few night, two maybe. She won't cry herself to sleep every night, just the first few. It's not as bad as it seems, certainly less stressful for her than having you come back in. She is old enough to understand a little. Explain that she needs to sleep in her bed, because everyone sleeps in thier own bed. It's hard but I think its the best way. She is waking up because she knows she get to go in your bed, instead of going back to sleep she cries. Kids are smart they know how to get what they want
I work as a nanny and have been for years. I give advice to parents that ask all the time. What I usually tell them about this is, while they are infants it seems ok, even cute for them to sleep in the parents bed. As they get older it will not be as cute and then it will be harder to get them to stay in thier own beds. I sit for a mother at this time who wants her children to sleep in thier own beds but won't do what needs to be done, so she has a two and a three year old crawling into her bed a night.
The othe advice I have is to put her in the crib while she is sleepy, but not asleep. This will help her understand that she needs to fall asleep on her own. If you don't want to leave her crying, then stay in the room and pat/rub her back while she's in the crib until she falls asleep. Dont put her to sleep in your bed, this way she knows the routine for sleeping. If she wakes up go in and rub her back until she is asleep. not as effective but may at least get her in her own bed, which is important.
It's never too early to begin a bedtime routine. Read a book, change diaper, place in crib. It help give a sense of security as babies like to know what is comming.
I hoped this help at least a bit. Good Luck!