Toddler bedtime routine

[Namechangeymcnamechange11]

My DC is nearly 2. I have recently moved him in to a toddler bed. He sleeps well once he is asleep and doesn't wake since I stopped breastfeeding him. I currently cuddle him to sleep and am looking to change this gradually to putting him in bed and saying goodnight. At the moment, he cries if he is left alone as he likes the comfort. He doesn't seem to need cuddling now but still wants me close, e.g. a hand on his tummy or side of his face etc.
I need to change this as I am expecting another and from experience, DC1 use to cluster feed all evening or be crying with colic!
What are the best gradual ways of doing this? Or that don't involve crying?

Sorry I should also say that he has a bedtime routine of tea with us, bath, milk and story, teeth, bed.

I’m trying this with nearly 2 year old. I started sitting up next to her while in the bed. Rather than lying down. Then moved to being sat on edge of bed and then the floor. Now it’s got to a point where I can say ‘I’m just going to the loo, I’ll be right back’ and I can leave and go for a wee. Or, I’m just gonna nip downstairs, be right back. She’s ok with this now. I’m hoping that it’ll all lead to a place where I can leave her to fall asleep on her own.

I did routine of bath, book, bed and laid on bedroom floor. Over a few weeks I started to edge out of the room. Now I just do bath, story, bed and bottle and leave the room and she nods of quite quickly. I play the same lullabies every night and it is associated with sleep.