Have you got a good, consistent bedtime routine?
for example, does he know what time bedtime is? To prepare mine, I used to have a picture of a clock with the hands at the time of whatever - bedtime, mealtime etc, which they could then compare with the clock, iyswim.
Also they'd get warnings, a countdown if you like. "Time for bath, story and bed" "story then bed" "bedtime in 15 minutes" etc etc, so that bedtime wasn't a shock!
Same thing at same time every night - quiet time, where no toys allowed, to let him calm down. have a bath, read a story, have a drink, have a cuddle - always the same and always leading to bedtime at the end of it.
You can - and this means LESS sleep in the short term, but there isn't always an easy, pain free option in parenting, sadly!! - go in, settle him, leave the room, wait for him to cry, go back in, tuck him in, leave the room, let him call for 5 minutes, go back in etc etc. This does work, but it takes several days.
I know you said you don't want him to cry, and I understand that, you are feeling fragile, but you have to know that it isn't always possible to avoid crying, tantrums etc. And it's actually not good to try because in order to keep your child happy all the time, you have to make the world revolve around them and give them everything they want all the time. trust me when I say that no good can come from that!!