I received a request for this on another thread but thought I'd post it here. This is technically a repost of a thread I made (but I probably made it a year or so ago). If you follow this method it's still possible to psned the coins you have in your wallet.
I'm going to be doing this whole thing in electrum this will ensure funds can be salvaged by anyone with a note you leave after a certain amount of time.
A slight note on a potential weakening of security here before we start in that once you do this your bitcoins may be suseptible to an attack if someone receives the paper and the ECC algorithm used for bitcoin is broken (but it's likely to remain strong until 2050 afaik).
Step 1, generate an address or a wallet as you like. If a family member would be able to log onto your phone, you could produce an address there - alternatively you could bluetooth them over a QR code with a small explanation as to what it's for (with a fresh private key on it that has no funds).
It doesn't matter what wallet you do this in and for me, I'm just going to use the address in my profile: 1JRmjyGo3kpdXcQeAeTBmGtgkC1AomHKED - but you'll have to remeber to broadcast the transaction in electrum.
On to making a timelocked transaction:
1. Open send tab in electrum with your funds in you want someone to be able to access some day, put in the fresh address you've created and hit max and "Pay".

2. Click advanced

3. As you can see, there's an option to edit the block height in this tab
I'm going off the idea there are 144 blocks a day and, for this example, I'll set the block time to 20 years from now.
654555+(144x365.25x20)=1697475

4. Click finalise > sign > export (bottom left) > export to file > and name and save your file

If you don't have anyone who could inherit your btc or don't want them to, you could ask a charity to accept them when you pass and send them or a cryptosupportive solicitors in the hope they can broadcast it across when you don't move the funds and don't respond for a certain amount of time. You could also publicly post a transaction you want to be confirmed or send it to someone you know to broadcast it.