Was she previously swaddled amchugh17? Because a swaddle is very useful through this arms/legs flaying flying around stage, as a way to calm and still baby. It's ok to carry on swaddling past 3 months, however it is unsafe to start swaddling at this late stage. So if you didn't swaddle before you can't now.
If not swaddling you can use your hands to still and calm her. One hand on her legs and one holding her hands at her chest. A dummy helps in doing this, so baby can be comfort sucking while being calmed and stilled.
Without a dummy you may well just end up trying to pin down a screaming baby in doing this, which is no good for anyone. The dummy helps to calm, sooth and quiten though.
Sleeping on your chest is very dangerous at night. Sleeping next to you (cosleeping) can be done safely.
Without something to suck when going to sleep (nipple or dummy) you are likely to get some crying. So it becomes about balancing your priorities.
Cosleeping and feeding to sleep is usually low on crying and effort. Longer term expectations need to be set.
Dummy and a sidecar cot (1 side removed off a normal cot and wedged to your bed) is better for more independant sleep - so baby can learn to go to sleep in the cot on own. Ususlly lower on crying but requires more effort than above.
Sleep training methods where you stay and comfort baby in the cot will definately involve crying, possibly a lot. About the same overall levels of time and effort as sidecar cot cuddles and dummy methods. But also requires high levels of consistency and determination to follow through.