Any tips on how to get baby to fall asleep on his own!?

My son is almost 13 months old and still falls asleep in my arms ( i know i know, i'm sooo stupid for letting it get this far). I used to give him naps in his swing during the day. Now he's too big for it and will not fall asleep anywhere else but my arms, heaven forbid i try and put him down, he wakes up screaming. At night i give him his bottle (while holding him) when he falls asleep I put him in his crib. (he's sleeping through the night though, amen!) But, the doctors and everyone else around me keep telling me to let him fall asleep on his own, he screams until he vomits, i don't know what to do! I do have a routine set up, same bed time every night etc. etc...any tips for me? Thanks so much!!