When I mold the head using a toothpick or skewer the fondant/gumpaste won't stick to it. The head dries but spins around on the skewer or the skewer comes out altogether. Same for the arms. 
Do I need to use RI or something else when I begin to mold the piece around the stick? I want to have the pieces adhere to the toothpick so I can attach them to the torso. Am I going about this all wrong?
Fondant and gumpaste will shrink a little when it dries which is why the toothpick will slide out. You can use royal icing, gum glue or even piping gel (this is what I use when making roses on toothpicks) to stick it together. I'm make it on the stick, let it dry and if the stick moves then I would pull it out, dip the stick in piping gel and stick it back in.
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