Ever since my baby was a newborn she has slept on my chest during naps and at night, but lately she…

Ever since my baby was a newborn she has slept on my chest during naps and at night, but lately she seems to be not as comfortable anymore because she wiggles around so much. I have tried moving her into her crib to sleep, or even the swing, but she cries the second I put her down. I'm not one to just let her "cry it out" any suggestions?