As a new green solid-state light source, semiconductor light-emitting diodes (LEDs) have the advantages of low power consumption, small size, long life, short response time, and good modulation performance. At the same time, the frequency band to which LED light sources belong does not require regulatory registration, thus alleviating the current problem of spectrum scarcity for wireless communications. However, white LED-based visible light communication (VLC) systems suffer from limited bandwidth and low energy efficiency. Therefore, an ARM-based indoor RGB-LED VLC system is proposed. Firstly, the three RGB colours are mixed into white light, thus obtaining a larger modulation bandwidth than normal white LEDs while illuminating normally. Secondly, the S3C6410 processor is used to modulate and demodulate the RGB-LEDs with biased light OFDM, thus obtaining a high spectrum utilisation while ensuring system transmission stability. Then, according to the characteristics of the light source of the VLC system, the leading and window functions used in the optical network transceiver module are designed to improve the communication energy efficiency of the system. Finally, functional tests were carried out on an ARM development board. The experimental results show that with a single RGB-LED light source, the maximum transmission distance is 5 cm, the maximum average delay is 68 ms, the maximum throughput is 25 Mbps, and the BER is controlled below 3.2 × 10−3, which meets the basic communication requirements.