I've a near 3mo who does 2 morning naps in his cot... most days...
Start with trying to put LO down for the 1st nap in the morning only. I read that's the easiest one to tinker with, supposedly due to their night time sleep hormones still being present or something. I also started on that one because if it goes wrong you have all day to recover sleep and hopefully hopefully not impact the precious overnight kips...
My nap routine is: once LO is tired, I feed him, double check to see he's sleepy and move to the bedroom. The blind stays shut all the time so it's as dark as I can get it. I put on the night light, even though in the daytime I doubt he notices it. I also put on white noise which stays on for the duration of his nap. I nurse him again, burp him, dress him in his sleeping bag, bounce or nurse depending on how ready he is for a nap. Then when he's conked, I hold him horizontally to check he's conked, then slowly move him into his cot. I put him down bum 1st and make sure there's a small muslin square that smells of me near his nose. (Midwife recommended doing it and I wear several in my bra all day...) My LO also likes to be at the side of the cot, not the middle, I think it's a contact thing, like the cot is too big and scary in the middle or something.
He rustles when I put him down and it takes a few (read several) rounds of picking him up, bouncing, checking he's conked before he's asleep and settled. He then naps for... usually 40 minutes. Oh, and sometimes he rustles only a little and doesn't need picked up, it's like he's just fussing and getting comfy so that's a careful balancing act as well...
It took a while for this all to work, so persevere and find what works for you two. And know you have all day to recover if LO only goes down for a minute or two to start with.
I'm still working on nap 2, it's hit or miss. The rest of his naps are on me and longer but it's enough to allow me to shower and grab a coffee most days which is honestly bliss even if showers are rushed when my partner is out.
I'd like not to nurse him to sleep and I still laugh at the whole "put them down drowsy". I also hope that one day he'll nap longer in his cot because I do still think he spends a lot of the afternoon catching up on sleep. But you win some and lose some.
Hope something from this helps! I know how much just a few minutes to yourself matter!