Maybe keep the lights dim and then go back into bed for a cuddle, story or song? Or what about doing teeth in his room with a flannel to just wipe his mouth after?
We do toilet, teeth, bath, pjs, stories, 5 mins of rough play in the bedroom (probably not a good idea really but doesn't seem to bother my two), toilet (plus night nappy for DS2), quiet chat and hugs in bed, sing goodnight sun, set Groclock, lights out, last tuck in and kiss, we leave the room and they normally fall asleep pretty much straight away. Occasionally we get a call back for help with water (they have a sippy of water in bed overnight they sip from occasionally) or tucking in again etc.
At 16mo we did bath, pjs and nappy, stories, milk (BF), teeth, songs, into bed.