Whilst I can totally understand how you feel, having got 2 kids myself, I have come to the conclusion that trying to get them to sleep on their own in a room by themselves is actually fighting against nature.
I've been through the same thing as you've described and I did resort to controlled crying but I totally understand if you feel you can't do that as it is very upsetting and stressful but the upside is that it works very very quickly, I remember with my DD we only did it for 2 nights and the 3rd night she slept through by herself.
BUT, DD is now nearly 4 and since about the age of 2, once she was out of the cot and in a bed, she used to regularly wake up in the night and come into our bed, and so you might find that you manage to get her sleeping on her own now but sooner or later she will find her way back into your bed!
I have many friends who all say the same thing and the only solution we've all found that works, meaning everone gets a decent nights sleep, is not to fight nature and what we've done is simply to move DD's bed into our room. She sleeps in her bed, DH and I sleep in our bed and we all get a good night's sleep, and I know that once she's that little bit older, she of her own accord won't want to sleep in our room any more and will want her own space and will go into her own room.
That has been the solution for us, I know it doesn't suit everyone, but if all you want is a decent night's sleep then it does work.
Good luck!