I have one of those wrigglers! I do only put him to bed when he is tired (he sleeps at 10.30/11amish and bed by 7pm - awake at 5.30ish though!). WE were co-sleeping til a week ago (put him to bed in our bed for the evening, joined him later).
Tbh I let him wriggle and writhe, and just lie next to him with my arm nearby/lightly on him. If he stands up/crawls away, I pick him up again, saying 'lie down' or 'it's bedtime' and try again. If he fiddles (his latest is to pick my fingernails - argh), I hold his hands.
Singing works well, and reading stories to him while he is lying down. He also has a bear who 'kisses' him to make him laugh when he is wriggling. He tends to drift off while writhing - seriously, he doesn't stop fidgeting til he is actually asleep .
We have just put him in a bed which is working surprisingly well (has slept all night most nights). I do stay with him til he is asleep, I put my head down and daydream have a sneaky nap while he wriggles.
So routine is - milk & stories (then off to clean teeth - this is new, we did clean teeth first), story and/or songs and chat with him lying down - then lights off. I put my head down, leave my hand lightly on chest, or cheek, and wait with him while he drifts off.
Hope this reassures you - was fearing my ds was the only fidgety sleeper...