It's not just as easy as that, there are various risk concerns involved in Bitcoin, it's different from other forms of physical assets were you can just draw up a will and after your demise, with the help of a lawyer, your beneficiaries can claim what you left them, in the case of Bitcoin, for that to be possible, you must give up your seed phrase, which is pretty difficult to do, as just with a misuse or a careless act with that 12 or 24 seed phrase, your funds could be imported by another and lost for good.
If you are keen to have a lawyer or your will involved, then there are safe ways to do this. You can encrypt your seed phrase, give give encrypted seed phrase to your heir, and give the long and random decryption key to your lawyer to be revealed in your will when you die (or vice versa). You could set up a 2-of-2 multisig with one key in your will and the other key stored by a family member.
However, there are trustless ways to pass bitcoin in to your heirs, such as a timelocked transaction. I set it for a year in the future and give it to my heir. If I'm still alive in 11 months, I invalidate it by moving one of the inputs and then replace it with a new timelocked transaction.