I’ve used this article as a base to configure VLAN’s in the past. I will say this is a great in-depth view on how to create VLAN! The nice this about this article is that I too have a pfSense box (once virtualized on VMware and now on a bare metal WatchGuard XTM505) and a Cisco SG200-18.
Now I have a Cisco Meraki MS-8P as my core switch and the SG200-18 as a secondary switch to connect my other devices that more or less operate at 10/100mbps.