XCode generates the header file for your static swift library next to your app's data in DerivedData
folder:
/Users/user/Library/Developer/Xcode/DerivedData/
YourApp-gwvcbdfthcschccmeafalxjghrzo
Build
Intermediates.noindex
StaticLib.build
Debug-iphonesimulator
StaticLib.build
DerivedSources
Where 'StaticLib' is your library name.
So you should just set this path in your Build Settings
> Header Search Paths
:
$(OBJROOT)/StaticLib.build/$(CONFIGURATION)-$(PLATFORM_NAME)/StaticLib.build/DerivedSources

If you get Could not find or use auto-linked library
errors later it means that your project is pure objc and you need to expand it for swift. To fix this just add empty swift file to your objc project and needed swift libraries will be included to your app.