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If you look at an EFS lense, it protrudes further into the camera. On a full frame camera, the sensor is larger so the mirror also has to be larger (logically) so the mirror, or atleast the bottom part of it extends further away from the sensor. As a result it would contact the EFS lense if you attempt to mount it.
Matthew is right, focal length is independent of sensor size. A 50mm lense should give you the same FOV regardles of whether it is an EFS or EF lense.
With the Sigma lenses, I am fairly certain they make them all EF compatible so they work with all EOS DSLR cameras.
Malcolm
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