Currently I have transfer-on-death/pay-on-death beneficiaries set up on everything that I can (unfortunately, it seems like Maryland keeps proposing but then not passing a change to allow TOD for homes), so if I die before I spend everything then it will go to my daughter and to several charities.
The biggest risk to having a legacy is if I need long-term-care in the future. So, to mitigate that a little bit, I gifted some old stock shares (thus avoiding paying the capital gains tax myself, heh heh heh) to my daughter and forced her to sell them and put the money in a Roth IRA (invested in s&p500). It should grow enough by the time she retires to at least be non-trivial, but it won't really be anywhere near a significant amount. So I'd like to gift her a little bit each year, though I have to be mindful of her taxes and possibly healthcare subsidy.
I suppose I ought to gift her a few i-bonds, she would have to pay a chunk of tax on them in 30 years, but I won't be around then to hear the complaints! I was very grumpy after my mother died because I kept owing unexpected taxes on money that I didn't have - because I was too inexperienced to know about automatically re-invested dividends and capital gains and RMDs of inherited IRAs.