Who will inherit your bitcoin? Would you die with all of them?
You can simply pass your bitcoins by writing down your private key and putting it in a bank's deposit box to make sure that it will get passed on to your heir. Just let them know that you hid a private key in the bank or seek help from an attorney.
Is it possible to have an escrow to pass on the bitcoin we leave behind to the people we love, possibly charity?
I won't use escrow to pass your bitcoins that you might leave behind because they might not do their responsibility(since they are not bound by law). Charity is not an option though unless you don't really have someone to pass it on.