Do the debts of the children get paid from the father's estate if he willed that before his death, knowing that the heirs agree but fear violating the noble Hadith: "There is no bequest for an heir"?

What your father issued is a will to pay off your debt, and there is no will for an heir unless the heirs wish it, according to the saying of the Prophet, peace and be upon him: "Indeed, Allah has given every rightful person his right, so there is no will for an heir," and his saying: "A will for an heir is not permissible unless the heirs wish it." However, if the heirs agree to execute the will, then there is no harm; because the money is theirs and they have the right to dispose of it.