We use an under the bed restraint system, it’s permanently in place for whenever we fancy it! (They just go under the mattress and tuck away when not in use. We tend to just use it on arms but it’s handy to have all four for things like post orgasm torture!!!
This is the one I think – Under bed restraints
Hubby like using rope on me when it’s me getting tied up, but honestly I love the simplicity of just having velcro and a nice soft restraint with it.