I used to try this with DS when he was ittle, but he would just cry. However, I did manage to make some progress so now I feed him (or rock him) to drowsiness and then put him down sleepy but awake.
You could have a look at the No Cry Sleep Solution & the No Cry Nap Solution. The Pantly Pull Off which Bertie mentions is intended to teach baby to drop off without the nipple in their mouth. She suggests taking them off the breast when they slow to comfort sucking after finishing the 'active drinking' stage of it. You can keep re-latching them if they're not happy about it.
I used my own version of this to get DS to feed virtually to sleep but finish the last little bit of falling asleep in my arms. Then I progressed to the same, but put him in the cot still in my arms until he was properly asleep. Then I started removing one arm from underneath him before he quite went off. Then the other arm. Then I was eventually able to put him down sleepy but not asleep. He would often need to be patted/shushed/stroked in the cot to resettle him, but that was fine. Each stage took several days, maybe longer.
The NCNS has a suggestion called the Pantley Dance of how to transfer a baby from your arms to the cot (without having to wait till they're in a deep sleep).
Elizabeth Pantley suggests that when you put the very sleepy baby down, you touch/stroke/whatever them in a soothing way (this is like the Baby Whisperer's shush pat). She suggests trying music / a certain phrase / a certain touch (eg pat/stroke), and saying/doing it to baby when they are already drowsy - ie when they feeding and sleepy, in your case. Over time they'll associate these sounds / touches with relaxed sleepiness so you can use them to soothe them when you put them into the cot. The sounds can also help the transition between your arms and the cot.
I feed DS 'for food' when he wakes up (and any other time I think he's hungry) and feed him 'for comfort' to get him to sleep. Then I don't need to worry too much if I accidentally take him off the breast a bit too soon.
HTH