You can find several wallets and services that support Bitcoin inheritance on TheBitcoinHole website.
For most people Nunchuk wallet would work fine, but there is a price you have to pay for using this service.
It's best to check comparison of all services and see what is best suited for your specififc case:
https://thebitcoinhole.com/inheritanceThere are a lot of options here where there is a dependency on a third party, which doesn't seem like an ideal choice to me. There is no guarantee that the third party will be active in the same form after a certain period.
Also, I would not ignore the price for such services.