[1] https://youtu.be/km3GsOk_ukw?t=738
---- EDIT
Sorry, I just realized that Arq is for recurring backup. The S3 console won't do that obviously. The AWS API is very easy to use, you probably could just build your own pretty easily with just polling the folder occasionally.
Then, I have a lifecycle rule on my s3 bucket that transfers all files to glacier.
Works perfectly for my use-case.
You just configure Glacier lifecycle rules via the console.