I have pfsense as main router and mikrotik CRS317 as Switch use routerOS, I can ping from Lan to my Guest VLAN if I create rules on pfsense router allow my Lan to communicate to my guest VLAN(is this router on stick method, am I correct), my question how to create rules on mikrotik switch side without involves Pfsense rules, any document or tutorial to do this

This a router request. A switch can not do that as far as I know ?