I sort of have the same problem; brown skin, black bodyhair. I personally shave my arms, but waxing or epilating are good alternatives. If the hairs on your arms are long and very noticeable like mine were and you wear a lot of short-sleeved shirts, I really recommend any form of hair-removing that you feel comfortable with, because even though you will probably start getting stubble in two or three days, removing arm hair doesn't take long and can be easily done along with removing armpit hair. I've left my arm hair unshaven for weeks but it's never grown back to the same extent that it used to be before I started shaving.
So I don't really think there are any other ways of not removing the hairs and yet making them unnoticeable, other than bleaching.