Hi Terezia
The first thing to do is to set your expectations at a realistic level. There are lots of gentle sleep training methods out there - look up the Pantly Pull Off and Sarah Octwell-Smith (I think that's her name).
However, gentle methods that will involve no crying will take a long time. This is not an over-night answer. It is about making teeny, tiny changes that cause no distress to baby and very, very slowly and gradually moving towards the outcome you want - baby falling asleep alone in the cot. Be realistic though, no crying methods of achieving this will take months - several months. It could be a good year of tiny changes to teach baby this way. This is the way of gentle methods.
However, there is a whole world of options in between gentle no-cry sleep training and Cry It Out type methods. It need not be black and white.
There are sleep training methods like Gradual Withdrawal for example. These will involve your baby being upset (because you are not holding her to sleep) but you stay with her - reassuring, patting, loving her, being there for her, being kind and understanding of her upset. But seeing the bigger picture and aiming towards teaching her to sleep independently.
Again this will not be quick. It needs time and consistency to work.
A good idea for you might be a bedside cot. Remove one side of a full sized cot and butt it up to your bed. It becomes and extension of your bed then and aids the transition to cot sleeping.