My lil guy turned 5 months yesterday. We do a bedtime routine and then feed him. We try to put him down awake. If he cries, we sooth him. Will pat him buml and a hand in him, giving a little pressure. If he cries more than 20-30seconds, we pick him up soon him then put him back down. Eventually, he goes to sleep when patting him or is calm enough he puts himself to sleep. This has been less and less. But he does wake up sometimes 30 minutes to an hour after falling asleep, and then we do the same thing. I'm not sure if that will work for you or not.
My son sleeps when I rock him and when I see his pacifier is out of his mouth and he’s really asleep I put him in his bed