Check out the tutorials for fondant monkeys. They should help you with the arms and legs. I make my arms stick w piping gel, but the hands rest on the legs so they don't need structural support. Again, YouTube bc there are a ton of different ways GL
"You have to stop the Q-Tip when there's resistance." Chandler Bing
I've also learned this weekend about using some clear corn syrup ... I just wanted to add to your options in case one doesn't work you have other ideas. All of the above suggestions work great! There has been times when something I've used forever just wouldn't work on that one occasion...
Even a fool, when he holdeth his peace, is counted wise: and he that shutteth his lips is esteemed a man of understanding. Proverbs 17:28
I always used water for figures, but I've started using edible glue, I mix gum trag powder with water I think those is the same thing. It makes quite a paste-like stuff and i find it better for heavier things like arms and legs!