R.H.
You need to stop co sleeping all together. My theory is don't start what you don't want to keep doing until they are grown. what we do in the evenings is do something calming maybe watch something like animal planet on tv. It's not eye catching or something they want to jump up and run around. Calming...
If you have been co sleeping it's not going to be calming once you get to the room no matter what. She's had you in bed and no matter what you do she won't know what your doing and why. No need to feel you can explain. To get through it the quickest and easies you need to just do it and not stop. Put her to bed the way you would expect. Read a book in bed, lay down, turn out light and leave. If she yells or gets up come in every 5 min or so and put her back down not talking and leave. Don't Talk. She isn't going to understand there is nothing to explain. Actions speak louder than words. Good luck. It should only take a week.