A.P.
The way you put her to sleep has a name, if that makes you feel any better. It's called parenting to sleep--not "putting" to sleep. It is an acceptable parent-child interaction.
That being said, I know exactly how you feel. Once they begin getting older, it's nice to have a tool or two to transition them to sleeping a bit faster, and eventually on their own.
Two wonderful books that may help you shift (without crying!) are Good Nights (Gordon and Goodavage) and The No Cry Sleep Solution Book (Pantley). http://www.breastandbottlefeeding.com/Books-We-Like.php