My routine is usually feed, change diaper, re-swaddle, rock to sleep, and set down in his bassinet with a white noise machine. I also make sure the room is dark so that he knows it's nighttime. Sometimes he wakes up within a minute of setting him down, or his eyes start opening as I set him down because he's not really asleep yet - then I usually leave him in the crib and make the SHHHH noise while stroking his face or rubbing his back. Usually he falls asleep that way, other times he starts to melt down so I have to pick him up and rock him back to sleep.
If I'm really desperate I'll nurse him again after changing his diaper (and after he's re-swaddled) and let him fall asleep while feeding. Then I can usually move him to the bassinet without any problems.
I've also found a pacifier can sometimes come in handy - he's not always hungry but just wants something to suck on, and that can calm him down enough that he'll fall asleep...doesn't always work though, and you run the risk that he'll wake up when it falls out of his mouth, so I usually end up holding him until he's asleep or hanging out over the crib to make sure it doesn't fall out until he's completely passed out.
My "routine" doesn't always work so well in the early morning once it's light out (when I still want to sleep another hour or two but he is ready to face the day)...then I end up with him in bed next to me swaddled, and will nurse him in the side-lie position. I can usually buy myself an extra hour or two this way, but not always.
I'm not getting any miraculous amounts of sleep though - he eats every 3 hours (or less...with a few 4hr bouts if I'm lucky), so I'm only getting 2 hour chunks of sleep at a time.
ETA - I'm using those commercial swaddlers with velcro rather than just using a blanket (we have a halo fleece sleepsack/swaddle at night, and a cotton kiddopotamus swaddleme for the daytime). If I tried to just do the baby-burrito wrap with a blanket he would wriggle free and wake up. The halo one is nice because I can change his diaper without un-swaddling him since it zips open from the bottom.