WiFi File Transfer (larger files require the paid version)? OTG connector (or adapter) to a thumb drive? (Copy from the S6 to the thumb drive, then connect the thumb drive to the S10 and transfer them to it.)
As far as apps, just install them again. (If you paid for an app, you don't have to pay for it again to install it on another phone on the same Google account.) Or use
App Backup & Restore to convert them to .apk files, copy the thumb drive, then install them on the S10 from the thumb drive.
Apps with data - make sure Google backup is enables on the S6, set the S10 to the same Google account and you should sync them (and, during setup in the S10, it should ask you if you want to copy your apps - if you say yes, you have to hold the phones back to back so they can "talk" by NFC, then the file transfers will go by ad-hoc WiFi).