We present families of scalar nonconforming finite elements of arbitraryorder $r\ge 1$ with optimal approximation properties on quadrilaterals andhexahedra. Their vector-valued versions together with a discontinuouspressure approximation of order $r-1$ form inf-sup stable finite element pairsof order r for the Stokes problem. The well-known elements by Rannacherand Turek are recovered in the case r=1. A numerical comparison betweenconforming and nonconforming discretisations will be given. Since higherorder nonconforming discretisation on quadrilaterals and hexahedra have lessunknowns and much less non-zero matrix entries compared to correspondingconforming methods, these methods are attractive for numerical simulations.