A VB6 DLL is normally a COM server. You do in fact have the equivalent of a .h file, it has a type library embedded in it. Start this off with Project + Properties, Common Properties, Framework and References. Add New Reference button, Browse tab, select the DLL.
Next, View + Object Browser. You should see the generated Interop library in the list. Open the node to see what is there. You write normal managed code, like gcnew, to create the COM object and call the interface methods. You do need some minimum documentation on the available methods to have a guess at how they should be called.