A.R.
Your daughter will need an extensive bigger-girl bedtime routine now that she is two - going on three R.. Why?
Toddlers and children need their brain activity to slow down in order to calm down their bodies for a good night's sleep (tummy rubbing is actually stimulating which is why you are so frustrated).
Getting her a regular bed so that bedtime can take place IN her bed instead of "going to bed" will be a good first start.
Pick out CHAPTER books that are calm but interesting: Charlotte's Web, Winnie the Pooh, Francis, Little Bear... Tuck her into bed ("the story won't start until you are tucked in...") and sit by her bed OR IN IT WITH HER and read aloud, slowly and softly.
Show her the pictures if you want to but don't let her touch the book - this is story time and she is able to create the pictures in her head.
She will most likely fall asleep before you are done reading for the night, of course. So pay attention to her while you read so that you remember where you left off.
Once she starts getting into the story, she will RUN to bed looking forward to finding out what happened at Little Bear's birthday party, or whether or not Winnie the Pooh found the North Pole.
Then, make a trip every week to the library to seek out new and better bedtime stories, giving you something to do for fun when she's awake that will also stimulate her to know when it is time to be quiet and respectful.
Also, get her into the habit of choosing one of her favorite stuffed animals or dolls, to listen to the story with her in bed, so she has a story buddy. She may change animals/dolls with every evening, or may choose the same one for an eternity. This will be the last thing she is allowed to do before climbing into bed... knowing that her friend may miss the story will give her a feeling of importance and reverence.
Now SHE is in charge of someone else who NEEDS her in order to have their own good bedtime experience.
Lastly, let go of the time it takes to "put a child to bed". Happy children get lots of time with mom or dad as they safely fall asleep. Bedtime is not time for you and husband to enjoy alone ~ it is HER time to enjoy one of you alone. If you take the time to provide a nice, 30-minute routine each night, you will all be happier.