danielle you are in exactly the same position as I am, just mine are now 4 and 3 (DS and DD).
they share a bedroom. We have a routine where they have a bath, change, have stories with me in their room - we negotiate which stories and have a pile so they know exactly how many we have to get through. When we get to the last book I say so, that after the book finishes we'll sing lullabyes and its time to get into bed to sleep.
Most nights this is fine. if they're super tired, sometimes its easier sometimes its more fractious. I did for a long time lay on the floor til they fell asleep (or until one of them did) and then crept out. Now I say that I'll be back to check on them, and I do - I got to our bedroom next door and read / whathaveyou and pop back in. If they get up, i take them straight back to bed, tuck in, reassure etc.
I don't allow jumping about at bed time or any toys in the bedroom that aren't books or soft toys - it limits distractions / chances for them hurting themselves and they are good about following these minor rules now. Its taken a long time reinforcing them and i think I did spend a lot more time when they were 2 and three snoring on their floor than I do now - but it felt like the ground work, if that makes any sense.
If things ever get truly out of hand, I would ask one to sit on their bed and read a story while I brushed teeth with the other one in the bathroom etc - I don't know if that helps at all, if they start to wind each other up.
Sticking to the same time each night and the routine has helped. If its too early or too late, its more problematic.
I've rambled. Hope vaguely helpful. 