Sync contacts to your Google account on Android
On iPhone, go to Settings
Tap Contacts
Tap Accounts
Tap Add Account
Select Google
Sign in with the same Google account
Turn on Contacts sync
Wait for contacts to appear in the Contacts app
If needed, export contacts from Android as a .vcf file
Send the .vcf file to the iPhone
Open the .vcf file on iPhone
Tap Add All Contacts
Verify the contacts are saved on the iPhone