Q: "How can i set up the arms and have them bend properly using a null as a control? "
A: You are wanting an Up Vector Constraint. You can create one automatically for any skeleton wiith Skeleton/AutoUpVector.
However, if you already have a skeleton, just place a primitive Null and then select the first bone in the skeleton and select Skeleton/UpVector. It will prompt you to select the Null.
The up vector essentailly controls the roll of the shoulder, with an effector at the wrist doesn't account for.
Note: For hands and feet, such as the roll around the long axis, don't use up vectors, just use FK, by simply selecting the bone, then rotate it in X, and save a rotation key in X for the bone. IK and FK automatically work together in Soft.
Hope this helps,
Urp