Specific missing parental skill

There is this very specific parental skill that I seem to be missing:

The ability to transfer a sleeping baby from my arms to the bed without waking up baby.

This is a very important skill that I have watched Mommy and Grandma do. However, does not seem to work for me. This morning, Zoey woke up around 5 AM. I held her and sung 12 days of Christmas until she fell asleep. However, 10 minutes after I put her down, she was awake.

Same thing just happened this evening. I rocked her to sleep in my arms, then tried to put her down in bed. She fussed immediately, so I held her until she fell asleep and then handed her off to Grandma and asked Grandma to put her in bed.

Don't know what it is. When I put the baby down, my arm is still underneath. When I try to get my arm out of cradling her neck, it wakes her up. Always happened with big brother when he was a baby as well.

It's not a good feeling, working hard to get a baby to fall asleep, and finally being ready to put them down in bed, only to have them crying a minute later.