Probably not. There are a few trusts called asset protection trusts that aim to do that, but they don’t have a 100% success rate. Most trusts aren’t a good bet for protecting property from people you owe money to.
A revocable trust offers no protection because you still own the property, while an irrevocable trust can offer some shelter because technically you no longer own what’s inside. But your best option is paying off your debt. Then you can know for sure your loved ones will get what you want them to have.