You should specify which people you are referring to because it depends on the culture and the religion. Many ancient religions believed in afterlife, without specifying what it was like. There are also very old religions which believe in reincarnation. Judaism, Christianity and Islam believe in heaven, hell and judgment day.
In Talmudic literature it speaks of a person born without a soul...According to this literature it is not only possible, it happened..
the person who made it died
eat her toes to please the gods
Soul Bubbles happened in 2008.
Soul Blazer happened in 1992.
Soul of a Robot happened in 1985.
Soul Edge happened in 1996.
Soul Link happened in 2004.
Soul of the Samurai happened in 1999.
Soul Fighter happened in 1999.
Shining Soul happened in 2002.
They Hold Special Ceremonies