To configure VLANs on a Cisco switch, you first enter global configuration mode, then create VLANs using the vlan "vlan_id" command, and optionally name them using the name "vlan_name" command. Next, you configure individual switch ports to be in access mode and assign them to specific VLANs using switchport mode access and switchport access vlan "vlan_id" commands. Finally, verify your configuration using the show vlan command.