Are you putting them down when they are still upset or after they calm down?
It's best to hold them until they are calm and then put them down. IIt's not good to put them down when they are upset, because they will learn that they get put down when they cry and cry and will keep that up because the reward for fussing is being put down. If there is no reward for it they learn it's not worth the fuss.
I HAVE SOME GOOD NEWS!!
-I got it! Not all the way there though...but when I lay them on their backs they just fall asleep! Isn't that cool, I'm so excited!
And if I cuddle them between my arm and my body they fell asleep there too! THANKS! THANKS! THANKS!