VLan is for that purpose only, you cannot connect to diffrent subnet. VLAN allows having several VLANs over a single switch in such a manner that all the LANs will operate in parallel and may not be even aware of each other
There are several types of VLANs and I don't know which one you got so you may or may not able to communicate.
I guess you need to setup
DHCP relay; It extends the reach of the DHCP server without the need for multiple DHCP servers on each subnet by acting as the DHCP server’s helper agent in a remote subnet.
Just look at
Cisco 1800 Series Integrated Services Routers (Fixed) Software Configuration Guide - Configuring a LAN with DHCP and VLANs [Cisco 1800 Series Integrated Services Routers] - Cisco Systems for more examples