How to get my 5 month old to fall asleep independently without CIO

My baby is 5 months old and we are working on a lot of sleep transitions (last night was her first in the snoo with no motion and she did great!) eventually want her to sleep in her crib. Currently we bounce her on a yoga ball to sleep. She fell asleep independently once last week for her first nap of the day. I would like her to fall asleep independently for both naps and bedtime. How can I do this without CIO?