I co-slept with my kids, and it's not horrible, so don't listen to the moms who will scold you for "creating this monster" (as one mom put it!). Yes, there's a challenge, but everything she is doing is 100% developmentally appropriate for a child her age, and dealing with it lovingly and patiently is the best way to end up with a healthy kid :)
Move her to a toddler bed. Since she can climb out of her crib, it's time anyway. Then, at bedtime, go into her room with her. I used to lie on the floor with my daughter in her bed until she fell asleep. It was much easier to tiptoe out then, than moving her from the couch.
Keep your routine going, and keep it consistent. She won't learn it in just a few weeks, but after a while, it will start kicking in that it means time to settle down. Keep it simple ... brush teeth, put on pj's, read a short relaxing story (this is not the time for most of the interactive reading, that should be during the day when she is alert), sing a quiet song, tuck her into bed and give kisses. Don't worry about her learning to sleep without you there yet. Just make bedtime quiet and relaxing.
And then be patient. Realize that she will revert some when baby comes, so have daddy be the one to do bedtime routine atleast several times a week until then so she is used to him when you aren't available.
Oh, and if she watches tv at all, it must go off at least 30 minutes before bedtime. An hour is better. TV works up little kids' brains and wires them up so its harder to sleep (adults, too!)
I would also suggest adding in a set "quiet time" during the day. She may not nap much, but her body still needs the rest, and if you have a fairly regular time, with a regular routine (shortened version of bedtime, maybe) and a quiet, darkened room, she can at least rest and relax for a while, and so can you, hopefully!
Hang in there! I know from personal experience that in a few years, you'll look back and wonder why it was such an issue! (My "nightmare" daughter is now 12, and I wish getting her to sleep was the problem! lol) I know it's hard now, but it won't be forever.