Hi B.,
I suggest a routine that you don't deviate from, mentioning throughout the routine what you are going to do next with 'and then we are going to bed'.
Also try a clock radio that has nature sounds. Start the sound of his choosing upon initiating the routine.
Our routine goes like this:
Potty, washing of feet and hands (if no bath) with wee bit of splashing in the sink, brushing of teeth, then to bed for prayers and kisses and caresses. There is lots of giggling in between so as not to get too heavy or dreading.
When we first got Joshua into a big bed, he did start to come out. It took only one time of spanking (one swat to the fanny)with love and cuddles and explaining afterwards. After that, all we had to do was threaten. Now he's a veteran and will sometimes tell us he needs to go to bed.
It is my personal opinion that when we get into fight mode, the kids dig in their heels and the situation escalates WAY beyond what is remotely necessary; sometimes losing the point altogether. We are in charge and he will do what we say, that's just that, or there will be unpleasant consequences.
Hope this helps!