This is the gold standard for finishing rope ends; attractive and very secure, a good Sailmaker's Whipping will last as long as your rope does and never slip. You'll want a fairly large needle and a thimble (if not a sailmaker's palm) if you're going to do more than a few of these.

There are three main methods I've seen of performing a Sailmaker's Whipping:

1) Where the needle is passed through each strand of the rope diagonally under the whipping. This is the style I prefer; it is most secure, and not much more effort than the others. Frustratingly, it seems to have been abandoned by makers of online knot tutorials. (let me know in the comments if you find one)

2) Where the needle is passed through each strand above/below and parallel to the whipping, as shown here and here. This works with longer whippings than you can perform with method (1), but I'm not sure what advantage that set of choices would have in a bondage context.

3) Where the needle is only passed between, not through the strands of the rope, as shown here. This is less secure, and if you don't want to deal with pushing the needle through the rope, this whipping is a better choice.

Ashley identifies methods 1 and 2 as #3446 and #3447 respectively, and gives the interchangeable names Sailmaker's Whipping and Palm-and-Needle Whipping for them both.