Hello Cameron
The crypto-map command is used to bind or tie together all the various IPSec configuration elements. This includes the transform-set, the ACL that identifies the traffic, and the peer at the other end of the IPSec tunnel.
On the other hand, a transform-set is a combination of security protocols and algorithms. When you define a transform-set, you are essentially defining the methods and protocols that IPSec should use to secure your data.
So, you can’t really replace one with the other. They both serve different purposes in the IPSec configuration process.
In general, you should use the crypto-map command when you are ready to tie together your IPSec configuration and apply it to an interface.
I hope this has been helpful!
Laz