I'm here to tell you, it ain't easy.
Heck, I don't even think it's possible.
I just found this video while I was organizing my files (yeah, because I have that kind of time). Since this video was taken (back in early August), I've actually managed to nap with him.
I crawled onto the couch after he was already fast asleep. Hey, don't knock it - it worked!
Until he woke up and jumped on me. Enjoy the video: