I found that putting a bar of soap, between my sheet and mattress, at the foot of the bed helps me to relax my legs when they start twitching. All that I do, is, touch the soap with my foot. This automatically stops the restlessness. I would recommend it.
It does not matter the brand of soap you use.
I have had a bar of soap in my bed for 5 years now and when I travel I bring one with me just so that I can have a great sleep.