1) Install Bitcoin on your future cold computer
2) Generate a wallet/address on your future cold computer
3) Disconnect your computer from the internet and keep it disconnected permanently.
4) Using Blockchain, your Hot Computer, or whatever computer that has funds, send Bitcoins to your cold computer's address
5) Check/Watch the balance on the blockchain to see that you have the funds on the new address for your cold computer
You can even spend the funds without the offline computer going online. You have the online computer generate unsigned transactions, move them across the air gap to the offline computer, sign them there, move the transactions back, publish them from the online computer. Armory generates new addresses in a deterministic way, so you avoid reusing addresses and the offline wallet still only needs to be backed up once.
This is what Armory is all about.
Of course you have to make sure your heirs can get the necessary passphrase after your death, but nowadays most of us have a lot of passphrases so this is nothing new or special. I use a password manager. If my heir can get into that, they can find all the others, and the procedure can be documented once in my will.