You take that bath, nice and hot, read if you want, and consciously relax, then towel off and right into bed! With the heat and relaxation you might drift right off....

Mizkriz-
I have also found that rubbing down with lotion after hot baths calms my skin. With my skin calm and not the feeling of goose bumps all the time, I can relax enough to sleep.
You may also want to try a glass of 'Sleepy time Tea'. It has a smooth flavor and is suppose to be a natural way to relax. I don't know if it really works, or I only think it does, but it helps me.
Hugs to you

I really enjoy very warm baths also,I use the epson salt or I have a lavender bath oil I use. I think the bedtime teas are a good idea also. You might want to try some soothing music also. I will also heat my bed up using the electric mattress pad warmer or heated corn bag. some people use a heating pad too. Just do not fall asleep with it on.

what I learned the hard way was NOT to soak too long. Chriop told me to take a warm bath so I just kept adding more hot water, stayed almost an hour, felt wonderful then my muscles felt like they turned to cement. It's like sitting in the sun. Feels good but don't overdo it.

Hope you had a good night sleep.
I also get off the computer an hour earlier than sleep time, that seems to wire my brain and sometimes just do the breathing and meditating yoga to shut off the panic/brain.

I take hot baths and love it. I also bought an electric throw I plug in which helps me all through the night.

I drink chamomile tea by Alvita, and use Sleep drops from the health food store. That and time on my new electric blanket as a whole-body warming pad really help me.

For an epsom salt bath, I soak for at least 15 minutes and then until the water gets too cool.