Ok, you’ll have to work a bit on this, you will have to sacrifice your sleep for the first week or so (maybe).
First, get her all excited about a toddler bed… say things like you are a big girl now, time for us to get you a bed like daddy and mommy… then get her a toddler bed (I’m hoping it will fit in your room, just replace the crib with it). Or if she’s a Dora or Disney princess fan, get her the Dora or Disney princess bed (they’re not too expensive). Since toddler beds are low, she can safely climb on and off, and even if she rolls off, it won’t be an issue (as long as you have carpet in your room).
Give her a stuffed toy or binky, tell her this is your new friend who will keep you company when you’re sleeping, just like mommy. And you have to prepare her properly, keep talking to her about it, get her all excited. She’s old enough to understand this.
And don’t let her sleep in your bed anymore, be firm about it. If she climbs into your bed, put her back on her bed as soon as she falls asleep, even if you have to do it 10 times during the night.
I’ve very recently moved my 4 year old into a separate room successfully, so all it takes is persistence and a bit of sacrificing your sleep for a while. Good luck