I appreciate that this is a little late to the party, but I have had this same issue with a brand new project in Xcode 16.2 today and thought i'd share my fix as well as none of the other suggestions worked.

For context, I have added several new projects/modules over the last few months and not had this issue with them, so I compared them with the new one and the only difference was:

Install Generated Header was set to No in the project that wasn't working

As soon as i changed it to Yes the -Swift.h file was created and i could referencing for Objectice-C code in another module.