Ask your other half to rub your back or shoulders, it works for me :)
I hate milk but drinking a big cup about half an hour before bed has been helping me. If I go with out a cup of milk I probably won't sleep that night. There is also some hot sleep tea, I would make sure you can drink it while pregnant though but it has natural lavander ect to help relax you.
Reading could help you fall asleep
I've been taking quizzes on playbuzz.com and it makes me sleepy after a few lol
I had a huge body pillow I'd put my leg up on and kind of hug. And I always start thinking too much and at one of my birthing classes the teacher said to just take deep breaths and keep thinking about breathing. It helped me fall asleep way faster.