Do you like having her in bed with you? From your description, she sleeps much better with you guys, and your husband enjoys snuggling with his daughter (assuming this since he's "the one who started this")... I guess I'm just trying to understand the push to change it. If you are sleeping poorly with her in your bed such that your days are negatively affected, then I understand making a change. Are you getting flack from family or friends for cosleeping?
If your husband and daughter AND you enjoy the family bed, I say don't fix what isn't broken! ;) Or continue to transport her to her crib after she's fallen asleep with you guys, if that variation works better.
Bottom line: all over the world, this is how most families sleep - in the same bed, or at minimum in the same room. And don't buy into the fear based parenting of "if you don't get her out now, she'll never make the transition" because that's just not true. I did see one mom reply who has a 6 yr old that hasn't made the transition, but I think that's probably an exception and not the rule. We have 2 kids and have had a bunch of different configurations over the years based on their developmental stages (new crawlers can be such mavericks!): a sidecar cosleeper (which was a glorified stuff holder), all in a queen bed, all in a king bed, start out in bed and transfer to crib, start in crib and transfer to bed, transition to "big girl room" and queen "big girl bed" with one parent snuggling toddler to sleep, then leaving to join spouse in other room. Our daughter transitioned into her own room/bed at 2.5 yrs old and we just made sure it was gradual, gentle, and not scary or lonely. Our son is currently 7 months old and does a combo of crib/family bed. One or 2 mornings a week, we all end up snuggling together in the king bed, and that's pretty darn sweet. They're so little... this time is so fleeting... we'll look back in 10 yrs and marvel at how short the time was that they spent snuggled in bed next to us.
Sorry, getting wistful there! Here are some sources that might help:
If you like the family bed but just want to get more sleep
http://www.drjaygordon.com/development/ap/sleep.asp
And poke around the sleep archives here - I like this woman's take on things because she is practical, non-fanatical, and in the trenches like us moms
http://moxie.blogs.com/askmoxie/sleep/index.html
If you really, really want to make the transition to big girl bed in a big girl room, you can check out "Good Night, Sleep Tight" by Kim West aka The Sleep Lady which talks about sleep from birth to age 5 and the different developmental stuff that occurs that affects sleep
http://thesleeplady.com/
Best of luck!