You should first teach your cat that your bed is off-limits. You can call her, play with her, and use treats to distract her from climbing on your bed.
You should put some soft bedding and a cushion inside the crate. Cats love sleeping in small places, so the crate should have just enough space for her to stand up and lie down comfortably.
If you still have trouble keeping your cat off your bed, close your bedroom door. In the beginning, you might hear your cat crying outside the door, but, stay firm and don’t give in!
Sleeping with a cat might be disrupting, since they could be active during nighttime. Also, cats shed and their hair might cause allergic symptoms in humans. And I’m sure all of you want to avoid the fear of rolling over you cats in sleep!