We are in the middle of a run of Blackadder where 2 arrows are fired at Baldrick - one hits the target he is holding above his head and the other doesn't in fact enter his body as his w*lly gets in the way. We used the tried and trusted "push the arrow through from the back of the set" method with the proviso to the actor that if he is not standing in the right place the arrow may indeed enter his body. Use your imagination. In the TV series he ends up pinned to the door but this proved too difficult to set up so he stands next to the door instead.
The target is attached to the set and he just appears to be holding it. Once the arrow is in the target he can move away leaving the target apparently pinned to the wall.
Because of the nature of the preceding scene change (on a revolve) there is no time to set up anything complicated or even use elastic so the arrows are just pushed through on cue by someone behind the flat.