How can I fall asleep faster?

I don't want to hav eto take medicine..... No matter how tired I am I can never fall asleep with out laying in bed for at least an hour. My mind just thinks of a million things and won't relax. I'm really not stressed out or anything, I just can't fall asleep. And lately I've been waking up in the middle of the night and not being able to sleep for HOURS. Idk if there's anything that can help with that though