If you have the time and the money, look into velcro bondage cuffs. Just tie something to them and the bed, then use the cuffs on them - they can't get out, it can't get too tight, and it's easy for you to do and remove.

Otherwise, tie a bow, then pull one loop through. That leaves a knot with one loop which is easy to undo (just pull that loop through too). You do need to be more careful with the tightness on wrists and ankles though - if you can't get a finger between whatever and them, it's too tight. A pile of sites will give more clues.

Metal handcuffs tend to be uncomfortable if not actively risky -make sure that they cannot be tightened further once on.

Other bondage cuffs exist, but the fabric velcro ones tend to be lighter and cheaper than the butch leather and rubber ones with straps.

I have these Velcro restraints but you can actually tie them to the bed post /legs I have four of them so I can also tie together and slide under the bed if there are no post
Paid ?30 from love honey and had them years

You can also get velcro wrist and ankle cuffs that have an attachment that go under the mattress too.  Cost about ?20/?40.   

I have these as well they have a D ring in the middle but I find the other better for touring