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I agree with @catomd00: that it's still early and they say in the first 3 months or so you can't spoil them. It's survival mode.
HOWEVER I do think it's never too early to start good habits. I have a friend with a 10 week old and for the first 2 months she would ONLY sleep in their arms. But she continued to start naps/sleep by putting her in the bassinet drowsy but awake. She may not have stayed there for the nap but it was like a constant reminder "hey this is where you're supposed to sleep and it's ok if you're not asleep when I put you there". All of the sudden at 10 weeks she was just ok with it one day. She went o sleep in the bassinet and stayed there for several hours.
So while I agree that you can't spoil NOW, it can eventually happen and it'll just get to be a harder and harder habit to break. So try to slowly introduce it now.
ETA: I did drowsy but awake from the get go and he has been able to go to bed drowsy but awake every time (except for blips on the radar) for his entire 8 months of life.
Just my experience and advice, but do what you feel at ease with. Some people are ok with rocking and holding for sleep for a long time. I'm just not one of them

My LO took all naps in my lap (propped on a pillow) until I did some light nap training at 4 months before I went back to work.

The nap training was just creating a strong nap routine and sticking to it (darkened room, white noise, swaddle, paci, go-to-sleep song) and then I would let LO fuss for about 5-10 minutes, as long as it didn't escalate to full on crying. And if it did escalate, I would do pick up/put downs until she fell asleep.

After about a week of that, she started napping on her own in the crib.

It will come with time. She needs to be near you at this stage. And I completely agree with what @catomd00 said!

@gentlelunette: throw away the books and listen to your baby and your instincts - they won't steer you wrong! You can find an"expert" for just about anything! These days might feel long but it will be over in a blink of an eye and you can never get this time of warm baby snuggles back!

As hard as it can be, don't put all your trust in so-called experts or parenting websites. Go with what is right for you and your little one. Babies are raised differently and perfectly well all around the world without the expectation that they need to sleep in only one place or eat, sleep, wake and crap at the exact same, regimented times every day. They even survive without bedtime routines, which we all seem to find so important.

6 weeks is so, so little still. Your baby will probably fall into a pattern of sorts on her own. She'll be driven by instinct for a long time to come and she knows more about what she needs than any parenting expert does. Enjoy getting to know her

We did early sleep training. But that isn't for everyone. It sounds like your baby is approaching a predictable routine and I agree with others that say, stick with a naptime routine, and attempt to put LO down even if she doesn't fall asleep. Do you use a pacifier? My kids didn't take them but I know that really helps a lot of people.