Momme's Bed to Toddlers Bed: The Transition

My lil' princess has been sleeping near me since her birth in the hospital. Now it is time transition her from my bed to her own bed. What has worked best for you? What age did you start this process? She goes to sleep in my arms, then she stretches out which is my clue that she wants to lay down, but those lil' feet are always close to me to ensure momme is close bye.