The easiest way to make visuals (that will last) is to use a laminator. You can either print your visual straight from the computer, or cut out your images/words and paste them on a different coloured paper. Then just put it through the laminator and stick it up.
If you need parts of the visual to be removable, laminate the individual pieces and attach velcro to the board and individual pieces.
How to make a PECS booklet (Educate Autism)
How to make a table top token board (Educate Autism)
Create visual supports for your child (Connect Ability)
A free resource that helps you put together visuals for your child, including templates.