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A VLAN is usually also a subnet (there are other VLAN types, but this is the most common). To communicate to another device in the same VLAN, it is just like on a ‘normal’ LAN, first ARP, to get the MAC address, and then send the packet directly. If on another VLAN, like Favas said, you need to use a router to communicate between the VLANs as the destination is on a different subnet.
A VLAN is usually also a subnet (there are other VLAN types, but this is the most common). To communicate to another device in the same VLAN, it is just like on a ‘normal’ LAN, first ARP, to get the MAC address, and then send the packet directly. If on another VLAN, like Favas said, you need to use a router to communicate between the VLANs as the destination is on a different subnet.