Start with the spreader bar. A popular accessory for domme's and roleplayers, this restraint puts your sexy slave in a position where they are both exposed and open.
It's comfortable, lightweight, and can be used in many positions. It is also a great conversation piece in your home gym, especially when someone new asks how it is used, or better, "can we try it, sir?"
It looks like this
and you can even buy it on Amazon: https://amzn.to/2vmrj0e
This is also very useful and fun for fetish play:
These restraints can effectivevly work with almost any bed, keeping your sub in a spread-eagle or similar position, and uses velcro straps for comfort and easy setup.
https://amzn.to/2IVmlJW
I hope you enjoyed this modest post, whether you have a little kinky play or a dungeon in your house as a playroom!