I think you don't really understand what you are asking. A router can send traffic to different VLANs of a switch. Whether you have multiple physical interfaces on the router, each connected to a different switch access interface in a different VLAN, or you can have different logical interfaces on a single physical interface that connects to a trunk interface on the switch.
In the image, the router on the left has different physical interfaces connecting to different physical interfaces on a switch. Each link is for a separate VLAN. The router on the right connects to the switch with a single physical link, but it has multiple logical interfaces on the physical link, and each logical interface is in a different VLAN.
In either case, the router is necessary for traffic to get from one network to a different network. A VLAN is really just partitioning the switch into multiple logical switches that do not directly communicate with each other.