צַוָּואָה

You may recognize some of the letters in צוואה
will (and testament) – from the word מצווה
(commandment), and conclude that they’re related.

You would be right.

In a צוואה, a person commands their will to the powers that be.

For example:

הבנים קראו ביחד את הצוואה של אביהם, והופתעו לגלות כמה דברים.

The sons read together their father’s will and were surprised to discover a few things.