We started by bringing up the double mattress from what will be his new bedroom (it's currently the toy room) and putting it on the floor so that if he rolled off, it wouldn't be much of a fall.
He did alright his first night, just waking a couple times to grab onto my hair and fall back asleep, and wanted some milk around 3am.
In a couple months, if he's doing better about not falling off, we'll move the mattress down to his new room, and I'll start sleeping down there once he wakes up the first time, hopefully making it a pretty easy transition for him. Hopefully, by the end of July, he'll be sleeping on his own better every night just in time for the baby to get all of Mama's attention.