Joey will be two this month, and we have his crib (which is convertable so the side is off in "daybed mode" pushed against our bed like a big cosleeper. He usually falls asleep between dh and I but then we scoop him up and put him in his bed right beside ours. Sometimes he'll wake up and climb into ours, but a lot of times he's sleeping most of the night in his bed.
If you can set up a toddler bed beside your bed and start the transition (comfortable, slow, and exciting - put a fancy blankie or stuffed animal there and let it be a treat that they can use only in "THEIR bed".
We'll say, "Joey, you want to go in Joey's bed and lay down with your blankie?" and he'll smile and go lay down. He doesn't usually stay there while he's awake, but we've gotten him used to it so he reads his stories there and wakes up there. We recently put his Ocean Wonders aquarium there as well and that draws him to it.
I'm far from ready to set him up in his own room, nor do I think he's ready for it, but we've begun the transition into his own bed, beside ours, which is exciting.
Good luck!