@Daminark Idea (from which you can reconstruct the proof): Let $f : M \to N$ be a proper surjective submersion. Let's just take $M$ to be compact for now (how to remove this assertion?). Let $\gamma : [0, 1] \to N$ be a smooth path downstairs. $f$ is transverse to $\gamma$ (Warning! What does being transverse to a manifold with boundary mean?), so $P = f^{-1}(\gamma)$ is a smooth submanifold of $M$ which is a cobordism between $F_0 = f^{-1}(0)$ and $F_1 = f^{-1}(1)$.
Then $f : P \to [0, 1]$ is a smooth function between manifolds-with-boundary sending boundary to boundary and with no critica…