The “Right answer” is copy all the content to another device, upgrade disks, copy content back to new array that can take advantage of the larger disks. Or even safer, set up a completely new device in parallel and then copy data over, decommission the old device.
Some RAID systems will let you do what you say, but will not let you expand the usable storage space. Some will have particular disks they’ll even take. It really depends on the RAID system.