It depends where is your gateway defined.
If your switch is acting as gateway for both subnets, it can route traffic between the,
If switch is configured as a Layer 2 device and firewall is your gateway for clients, routing has to be done on firewall.
IP default-gateway is only for the switch itself, so let's say management traffic. For all other traffic, you have IP routing. When no dynamic routing protocol configured this will be directly connected routes in combination with static routes. Hope this makes it clear.
*Be sure also to disable firewalls on WIN10 PC'S while checking ICMP between stations on diffrent/or same VLAN.