Personally, I question the extent to which it is necessary to teach your heirs about bitcoin in order for some kind of plan to be made in which they would benefit from your bitcoin.
I am sure you will agree with me that to leave Bitcoin for heirs require them having at least the basic knowledge of Bitcoin... this will make them self-dependent, not asking third party for help when accessing the Bitcoin. Of course you know the risk associated with asking for help from third party as regards Bitcoin.
Furthermore, in the early stages, children have the ability to learn and retain many things. So, it is therefore our duty to teach them the real things of life from our wealth of experience. Let their passion decide which to take seriously.
...you could create some kind of a trust and you could also have some person or some kind of an organization that would be in charge of distributions, and you could also have terms within the trust that might involve some of the needs of your various heirs to educate themselves in regards to bitcoin (or any other topic) if you believe that might be a reasonable condition to set upon their receipt of the bitcoin or to receive distributions that might span out over a number of years or even through their whole life, if you might want to set it up in that kind of a way.
The is another wonderful suggestion that is feasible. This is also elaborate in the sense that it makes their education about Bitcoin a prerequisite for receiving their inheritance. Choosing a reputable organisation that will have the integrity and longevity to manage such trust is another huddle. As of today, I don't know if there is such and organisation in existence as I have not read or seen anywhere where such services is being talked about. More so, don't you think insurance company might come in and considering that there is yet to be a registered insurance company that handles Bitcoin, will that not be another huddle?