Moving away from Co-sleeping

We have been safely co sleeping with 10 month old daughter since she was around 4 months old, she starts her night in her own cot in her own room and usually around 3 or 4am ends up in our bed. Im planning on doing some sleep training (the pick up, put down method) and want to end the co sleeping before I have to go back to work in May. How do people do this with good results? Side note, in bed she loves to hold my ear and last night she was in the middle holding one of my ears and one of her daddy's ears.. I don't want her to feel abandoned by us 😢