Try baby sleeping bag? our baby did not co-sleep with us, but when she woke up, we just put her on top of our duvet, and all of us went back to sleep quickly.
It is easier to put the little one in a separate cot or basket, you can tuck in the blankets. Just place the cot next to you, when you need to feed your baby, just put her/him on your bed. After that, put them back in the cot/basket.
