Girls, help me with advice. Baby is 5 months old, we're going to sleep…

Girls, help me with advice. Baby is 5 months old, we're going to sleep with tantrums, crying (daytime and nighttime). I try to put him down at the same time, see that he spins, yawns, tired. I start putting him down and it's just impossible to do...it feels like I'm torturing him so he cries (I feel bad as a mom), then only starts falling asleep. Help please, share methods how you put kids to sleep?