I am not a lawyer, but I have had trusts setup before (including a special needs trust).

Establishing the trust is a legal process and I would suggest consulting a qualified attorney who practices in that area.  The cost can vary widely, so it pays to shop around. ( I know I paid considerably less than what you quoted to establish the trust.)

Funding the trust is separate from setting up the trust.  As far as I know, there is no restriction on what kind of assets a trust can have, assuming it's a legal asset of course.  

When it comes to Bitcoin or any other similar asset, the US case law is sparse, so,it's hard to know for certain what the IRS or a state government would decide.  So, if you are really serious about this, the suggestion of getting the best legal advice you can afford is a good idea.