I'm feeling like I've created some bad toddler sleep habits.

DD is 28 months. She's generally been a pretty good sleeper. She'll go a few weeks with no wake ups and then go a few weeks with 1 wake up a night most nights of the week.

When she wakes in the middle of the night we wait five minutes before going to her. We bring a 1/2 cup of milk because she'll ask for it when we take her out of the crib. We sit in a recliner, she drinks milk, falls asleep on us. Putting her back in the crib - my husband can transfer pretty easily, if it's me she loses it and gets all worked up again.

I don't mind going to get her in the middle of the night but I can't sleep in the hair with her or stay up for a long time.
I'm thinking we may be reinforcing bad habits and should consider changing the way we do things. She also seems more difficult on the days she doesn't get as much sleep.

Anyone been through/going through this? Or any recommendations for good advice/books/resources? Thanks!