You need to transition her to sleeping in her own crib. You could try moving her to the crib once she has fallen asleep with you. After she seems used to this, try putting her down in her crib before she goes to sleep. Start a bedtime routine so that she knows it's time to go to bed. Bath, put on PJs, read a book or sing to her, rock her, lay her down, tell her goodnight, pat her back/tummy, etc. She will learn that this means it is time to go to sleep.
We got our now 18 month old daughter to go to sleep on her own like this. We would put her in bed and leave the room. If she cried, we would give her 10 mins. If she was still crying, we would go & lay her back down, say goodnight, etc. & walk out again. Wait another 10 mins & repeat until she goes to sleep. Our daughter has gone to bed with little or no fussing for months now because we did this :)