Yes, we started about 1 week ago when DS is 4 weeks old. We bring him upstairs to our bedroom at around 9pm, lights dimmed. I nurse him on one side, burp, diaper change, swaddle, then nurse on the other side. He usually gets pretty sleepy afterwards and we put him in the crib. If he's not drowsy/sleepy yet, then we rock/sing until he's sleepy or asleep. We turn the monitor on and leave him alone - he usually falls asleep on his own. The routine takes 1hr to 1.5 hr. This has worked pretty well for us so far.
We bathe him 3x/week. On nights we do, we start bath time at around 8:30pm.