I want to be able to make a bed than can adjust with only the player torso,head and arms moving. Is that possible?
Yeap, any is possible. If you can imagine it, you can do it. Either do a function Touched event or MouseClick to make the bed move by it's Orientation and Position or CFrame and at the same time, the Character's body parts to move by Orientation and Position/CFrame, too. Play with the scripting until you get what you like. I would make the Humanoid sit=true or have a Seat on the bed so that the Character won't fall off when it's body parts rotate/bend.