Maybe make bed time fun and they can do reading time together like let him bathe her and then you settle her if that works but definitely see if that little routine will help if this is visible for your family balance.
Mine was so like this, we just perserved and one day she was just like ok! He now does every bedtime and I get told bye bye mummy, you go to bed now! It will happen x
This is very developmentally normal for this age. My son is 25 months and will NOT let me hold him at bedtime. My husband has to hold him while we both sing to him before we put him in his crib. If my husband is not home, then my son is totally fine with me holding him before nap and bedtime.