Here is how you can do it:
>>> A[3:5, 3:5] = B
>>> A
array([[ 1. , 1. , 1. , 1. , 1. ],
[ 1. , 1. , 1. , 1. , 1. ],
[ 1. , 1. , 1. , 1. , 1. ],
[ 1. , 1. , 1. , 0.1, 0.2],
[ 1. , 1. , 1. , 0.3, 0.4]])
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