There is at least one Canon digital SLR that pre-dated the EFS mount - the 10D. So even though if has its own cropped sensor, you cannot use EFS lenses on it.
The same goes for the APS film bodies - they take EF mount lenses. The lenses that were introduced with the APS cameras will fit on full frame digital and film bodies, but their corner performance may not satisfy you. That being said, I like my 22mm - 55mm EF zoom on my film bodies, because the range of focal lengths appeals to me, and the lens itself is very compact.