What I like to do is make a Table that combines both Panel and Volunteers Table this way I can add either from the Detail View of the Volunteers or from the Detail View of the Panels. You can do this just by clicking in the empty table inside the view.
It also helps if you want to know when a person was added or things like that.
Of course if you are a free user the first approach is better because it doesn’t eat your row limit like this one, so keep this in mind.
Here’s a sample showing this: