moving pets to Germany Need Help!

I have three small dogs that are currently in the Arizona. I am planning on bringing them with me back to Germany in a few months. I don't know which airlines are pet friendly and that allow pets in the cabin, i want my pets to fly with me in the cabin and not have then as luggage under the plane. So i was wondering has anyone  on here flown from the U.S to Germany with your small dogs and had them in the cabin with you? and if so how was the experience, how much did it cost, which airline did u use, what are the guideline that you had to follow in order to have your pet with you on the flight??? If someone can please help me with this i will greatly appreciate it.  Thank you very much.