Toddler Won't Fall Asleep On Her Own

I was one of those moms who let my baby sleep in the bed with me and my husband and we would cuddle with her every nap she had, but I'm convinced that it has made putting my toddler to bed a nightmare. My daughter is 19 months old and sleeps in a toddler bed. She screams when we tuck her into bed at night and begs us to cuddle with her. She climbs out of bed 10 million times begging us to cuddle with her. We always give in and end up spending half the night in her room cuddling with her. We want her to learn to fall asleep by herself. When we do tuck her in, we always read a book and say a prayer and reassure her that there is nothing to be afraid of. Does anyone have any suggestions on how to get her to fall asleep on her own?