I have added a C/C++ dylib library, with C Public API headers to Swift Project.
Assume that the library is, libModule.dylib. 
- Create a Directory with "Module" - mkdir Module; cd Module
 
- Create a file module.map inside Module directory - Touch module.map
 
- create a directory, this will be the header files directory, any name will serve. - mkdir Headers
 
- copy all headers into Headers directory - cp -R path/Headers Headers/
 
- open module.map & copy below contents to it, Swift team suggest, adding prefix C in front of library name, in case if its a C library. - module CModule {
  umbrella "Headers"  // for multiple files
  header "filename.h" // for single header file, in this case even the Header directory is not needed.
  export *
}
 
- Go to Build Settings -> Swift Compiler - Search Paths 
- Add complete Module directory path to "Import Paths" key.
- Go to Build Phases, Add New Copy Files Phase.
- Drag libModule.dylib to the Copy Files phase. Select Destination to "Frameworks".
- If required add the libModule.dylib to Link Binary With Libraries section of Build Phases.
If step 9 is missed, we get famous @rpath/ Image not found crash.
Now Import module in swift as below:
    import CModule // name given inside module.map
For system library, most steps don't require.. just create directory & module map file with correct header path and do 6, 7. 
Its seems step 10 not even required as its a system library.
    module CommonCrypto [system] {
      header "/Applications/Xcode.app/Contents/Developer/Platforms/iPhoneOS.platform/Developer/SDKs/iPhoneOS.sdk/usr/include/CommonCrypto/CommonCrypto.h"
      export *
    }