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Consider this cube between the character's hands:

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I'd like to make it automatically stretch when the arms move:

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These hands are a part of a rigged character, so they don't have their own origins. How can I achieve this? Supposedly there are multiple ways to implement this, but I can't figure out even one.

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You must have a bone for each hand. Parent your object to the armature with the With Empty Group mode, then assign the vertices of your object to the group they are supposed to be part of, decrease the Weight value along the obect:

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Now when you move the hand bone, it deforms the object:

enter image description here

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