V1910, setting up 2 vlans to talk each other and have their own internet router

Hello, I am new on the VLAN environment, I created 2 vlans, 10 and 20, each vlan has their own ip VLAN 10 192.168.3.5/24 on ports 1 - 32 and VLAN 20 192.168.12.10/24 ports from 33 - 48 all of them are untagged.

I would like to connect 2 different routers to have different Internet on each vlan but be able to see both networks.

Is that possible with this switch?

I have one asa 5506 on one side and a sonicwall 220 in the other side.

Any Advise will be much appreciated.