Turn on some video without commercials and something at a more or less constant volume, like Ancient Aliens or How It’s Made. Set the sleep timer for 30 min. Turn the screen off if your TV supports it. Set the volume low/moderate. Get comfortable in bed in your favorite position, close your eyes, and listen to the video. I usually don’t ever hear the sleep timer turn it off.
YMMV but when I’ve listened to videos with action and peril, the sudden shouting/explosions/whatever would wake me up.
If you have ad-free YouTube, James May The Reassembler, Astrum, and John Michael Godier are excellent to fall asleep to.