Feed the baby, and make sure the baby isn't hungry or thirsty before bed. the formula is bath, book, bedtime, and it's just a routine that you make that makes the baby understand on a physical level what is happening and what is going to happen next. Whatever you decide to do for your routine should be something you want to continue to do.. whether it is letting baby cry, letting baby watch TV, giving baby warm milk, it doesn't really matter, but it's about two- three hours of winding down, so fill it with soothing activities you enjoy :)
Remember they aren't babies forever, and after they get bigger, they won't sleep with you anymore. I slept with my baby until she started clocking me in the face to wake me in the morning :) enjoy!!