I don't remember the exact age, but around 6 months I would get on the floor and cuddle with her and she wouldn't try and wiggle away.
At 16 months she now cuddles when I ask. We have certain places that we cuddle - on her doggie bed, I'll lay down on her bed and whisper her name - she comes flying over and flops down beside me, on her back legs in the air b/c she knows she's getting a tummy rub and a full body massage.
On the sofa I'll call her up every now and then (about once or twice a week) and she sprawls out and I start with a nice massage, and rub down and then I slowly start to tickle her. This ends up in a big chase around the house, and inevitably into the back yard for a huge romp.
Weekend mornings, I'll call her up on the bed for about 20 minutes and we cuddle and whisper sweet nothings to each other.
And finally at night, I'll call her up on the bed for a 10 minute cuddle and "relax" time so she's nice and mellow and ready for bed. I cuddle her and massage her paws, her ears, and her legs, then a nice tummy rub, and then I tell her to go to bed, and she jumps down, goes to her dog bed, and crashes for the night.
I waited til she was about a year before I started inviting her on the sofa / my bed, and I made sure she REALLY understood "off" when I was done. I didn't want her thinking she could be on the sofa / my bed whenever she wanted, and she doesn't. She always waits for an invite, and I've set it up so it's not a routine, but rather a special "surprise."