Is it possible to add a time constraint between two tasks?

Like: Task A --> Task B

I mean, force a "Task B" to start always after "task A" has finished. And thus, if I move "Task A" in Gantt view delaying it, force "task B" to move accordingly also delaying.

I know task 'delegation', but it does not set any time constraint nor prevents parent and child tasks to move freely in time, regardless the other.

This is a very usual feature (I must, I would say) in any project management software.

Any help? Any module?