Inheritance Strategies for Tax Deferred and Tax Advantaged Plans

I have a 401K plan at work. My wife has a 403 (B), 403(b) Roth and 457(b) at her work. We also have a couple of Roth IRA's. What is the best strategy for my Kids to adopt when they eventually inherit balances left over in these accounts. I would like to have these discussions with our 2 adult Boys now. Is there we can do something now that would be helpful for them in the future.