Well I don't know if this will work for everyone as I'm sure it depends on you and your husbands build and size but here is a little tip that saves me from time to time.
I am a HUGE tummy sleeper and I really miss it during my pregnancy. James came up with a way for me to safely be on my tummy but have no pressure on my actual tummy.
Lets see if I can explain it! haha.
Have your SO lay on his back with his legs apart. Now lay down with your head on his belly/chest (depends on your body build/height) then place your belly between his legs. Have his legs go right on you hip-ish area/legs. Enough to keep you supported. So your chest should be up on hubby/SO and your tummy should be in between his legs. If you go up higher you can get more support off your belly.
Does that make sense?? haha. I fall asleep so much better that way and just wake up to move off him and then fall back to sleep. Or we will watch TV that way