You could work gradually work towards that by first moving your baby in a side bassinet, then in a cot and then move the cot step by step further away from you towards the door and through the door into his own bedroom.

We co slept with my daughter when she was a baby and when she was out growing her bassinet I would put her in her cot for day sleeps the eventually I started putting her in her cot at night and when she would wake bring her in our bed and did it bit by bit until she would sleep in her cot in her own room