Well, if you are invested into the Canon system, then you cannot mount EF-S lenses, simply due to their physical design.
EF-S lenses are designed for a mirror thats deeper into the camera, because on a crop camera that mirror can be smaller due to the smaller sensor. Thus if you would be able to use EF-S lenses with a full frame DSLR, they would destroy the mirror if you try to take a picture.
Thus Canon DSLR indeed have no mechanism that would put the camera into crop mode if a lens made for crop would be mounted.
You can mount them though, if they are third party. Tamron etc usually dont redesign their lenses individually for the different mounts; they make one optical design and use it for Nikon F, Canon EF, and possibly more, only chaning the mount section of the lens between systems. Thus they all dont use the theoretical [small] advantages one could exploit for having more room on a crop camera, and thus you can saftely mount these crop lenses on a full frame Canon.