How do you access smart devices on a different VLAN?

Hey,

I noticed it's quite popular to have smart IoT devices on a separate VLAN but usually you or your family members also want to control these devices e.g. via your smartphones that are presumably on a different VLAN (let's call it a user VLAN).

How do you achieve that? Do you assign your phone and all other devices static IPs and only allow those IPs to access the IoT VLAN? Do you allow the whole user VLAN to access the IoT VLAN? Or is there any other way?

Thanks!