Hmm.... have you tried a cassette player in the room with a baby lullibies tape? The first night that I did this, was the first night Katelyn slept all the way through without a problem. It still helps with naps (shes 2 1/2 now).
There are lots of baby relaxation things out there, things that light up soft images on the celine for the baby to look at while it drifts off. There is one my daughter loved, it was like a little fish tank that strapped onto the side of the crib, and the small fishes kinda gently floated and it made a gentle glow, and also played music if ya wanted it it. I think it was made by playskool? You can find it in the toy section, near the infant stuff.
Another thing that helped was snuggly swaddeling her. That's where they are wrapped like a hot dog in a blanket....she used to fuss for a little bit, but after I did that and rocked her for a little bit, she drifted off.
One last thing... there are days where she cried. And as hard as it is to hear them cry, they do need to learn to fall asleep on their own. Obviously you don't let them scream for 1/2 hr., but letting them fuss for 5-10 minutes isn't horrible. In most cases my daughter calmed down when she realized I wasn't going to jump the minute I heard a whimper.
Just my thoughts. Best of luck to you, as I know how hard it can be.