Is there a way to detect a player walking through an object or part?

So I want to know if there is a way to detect if a player is passing through parts/objects rather than just checking if each body part has .CanCollide disabled.

This is what I mean:

game.Players.PlayerAdded:Connect(function(plr)
plr.CharacterAdded:Connect(function(char)
if char.Head.CanCollide == false then
plr:Kick()
elseif char. -- etc
end
end)
end)