The encryption key goes to DeadMansSwitch and to some other trusted party. If this is worth anything of significance you can pay an attorney to hold it and that attorney is bound by the attorney-client privilege to not share any of that information except as directed by you.
The paper wallets go to A and B.
So the encrypted paper wallet(s) go to family members. DeadMansSwitch gets the decryption key, as does the trustee. From another thread:
I changed the colour to blue for encrypted paper wallets to provide distinction between encrypted/unencrypted paper wallets - a version in the original yellow is included in case you really like yellow, just delete 'note_encrypted.png' and rename 'note_yellow.png' in its place.

This solution (encrypted paper wallets) robably isn't ready for prime time, but give it a few weeks and that will probably become a very good method for offline / long term savings that is secure.