annette, I am in a similar situation as you are in. My W prefers to have sex infrequently. I would like to "put it in" frequently.
Sleep in your bed most of the night to get some sleep and not damage your hearing when H snores. Go to his bed about 1 hour before you and he normally get up and start to spoon. Of course, have a BARE minimun of clothing on. You might have to do this a couple of times before anything happens. The schedule theme applies here too. Do it every xyz day. If you two have been asexual for a while, it might take a while for him and/or you to even get used to spooning. I do not know how far things will go for you.
Anyway, the above seems to work for me but the seperat bedrooms and dogs have been for 5 years. No ED, opposite for me, too much wood. Other issues for W and me inhibit together time.