Hi everyone,
Thank you for the responses!
My husband is almost always around and can be very helpful, I just rarely ask for help. I know that's my own fault. It's hard for me to do because my son cries when I leave the room and I feel bad that I'm leaving him. I'm hoping that if I do start asking my husband to help with getting him back to sleep though it would help me get more sleep.
We tried letting him cry himself back to sleep and he is wicked capable of keeping himself awake. I wish I had those talents when I'm driving and tired. He will stay up for hours in the middle of the night until I go back in to get him back to sleep. While he does that I can't ever fall back to sleep since I hear any little noise he makes, so his crying keeps me up.
Since the beginning I've held him to get him to go to sleep (or whoever was watching him holds him). Now he expects it. I do like responding to him when he cries for help, I know he should be able to fall back to sleep on his own, but I like that I can make him feel better when he wants me. I know that won't last forever. I'm the same with missing him when I do finally put him in the crib too BlueMerleGirl! Sometimes I end up just looking at him on the monitor.
I never heard about the heated beans thing, but I actually have a little monkey that can be warmed up and cuddled for stomachaches and cramps and stuff like that. I wonder if he would like that. I might have to give that a try and see if it helps. Thanks Crook32 for the idea!

Thank you for all of your responses. It's nice to have the feedback and support! Go moms!