If your state imposes estate or inheritance taxes, there probably isn't much you can do. However, if you live in two states -- winter here, summer there -- your inheritors may save money if you can make your legal residence in a state that doesn't impose these taxes.
For a comprehensive guide to estate planning, get Plan Your Estate, by Denis Clifford (Nolo).
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Estate Planning Basics
Do-It-Yourself Estate Planning
Wills: Your Last Will & Testament
How to Avoid Probate
Living Wills & Medical Powers of Attorney
Living Trusts
Estate, Gift & Inheritance Taxes
Estates, Executors & Probate Court
Getting Your Affairs in Order