OP, I know folks have offered advice here, already. I'll just tell you what we've done sometimes with occasionally sleep-resistant kids who don't act violently to bedtime (so, you know, different kids).
We read stories, then turn down (not off--get a dimmer switch if you don't have one) the light and snnnnnuuuuuugggle. I might whisper a story, but then I say, I'll stay for X minutes but we must be quiiiiiiiiet, no talking, only snuggling, okay?
And so I stay, and the kids usually fall asleep within 10-20 minutes. Sometimes we parents fall asleep too, and we parents have to come in for the rescue.
Because of scared-of-the-dark issues, we do leave the dimmer switch on, sometimes only halfway down, to be honest. Then when they're clearly asleep, I turn the dimmer switch further down, but never off. We've seen that if they wake up in the middle of the night to a completely dark room, they're likely to be scared and cry.
Also, we're a little lax with the older one (since around age late-4, maybe?), and let her snuggle up with books, the dimmer on veeeeery low, and a tiny LED lamp screwed to the side of her bedpost (don't want accidental strangulation from cord or fire with light touching sheets). She falls asleep eventually.