I just posted on another thread with similar theme...
DS is 15 months, about 2 months ago I started putting him down for his nap without a BF, I just read him a story and then he goes in his cot, it took about 4-5 times for him to understand what was going on, he cried to begin with and I left him for 2 mins each time, never had to go in more than once.
He still has a BF before bed but now he is awake after I feed him (rather than he used to drift off to sleep while feeding) and again goes nicely in his cot & snuggles down.
I think at this age they learn pretty quickly.
I agree that now feels the right time, they are not babies anymore, they still need reassurance we are around, but they can understand that it's time to sleep and settle themsleves.
Since I did this and stopped BF except at bedtime, he is much more settled & rarely wakes at night, and I usually have to wake him in the morning!
HTH