Like, really, when you work out, your goal is to have bigger arms. So just workout biceps, triceps, wrists and shoulders.
Some workouts like plank also workout chest, but they are one of the best exercises for triceps.
So when it comes to triceps, I only do planks for them.
As for biceps, I just do two exercises. One is lifting weight by curling arm all the way. The other is just tensing muscles for as long as I can.
Now, the way to work out biceps without weights is to create resistance with your body, like lifting your leg or pulling your arm.