AI Servo.
Put the camera on to back button focus on the Af-On button, ( Cfn 4-2 on a 5DMk2 not sure about the 6D it might be like the 7D in which case you will need the manual) set the camera to AI Servo and burst mode then press and hold the AF-On button and the camera will track movement and the exposure will be set on shutter release.
Its a lot easier than using the shutter half press but it does take a bit of getting used to but most people who use BBF never go back.
If you want one shot, press and release the AF-On button.
AI focus is supposed to start tracking focus if the object is stationary and starts moving but it does not work all that well.