VCC sets the voltage

Nothing between VCC and your pin

On a hit the switch's blade joins COM to NO, which on this board is VCC to SIGNAL. The switch's drawing puts the contact at no more than 100 mΩ, which for this purpose is a plain wire. Nothing on the block changes the level on the way through.

So while the lever is in, SIGNAL is VCC. Put 5 V on VCC and your pin gets 5 V. Put 3.3 V on it and your pin gets 3.3 V.

3V3 beside a 3.3 V board

An ESP32, an ESP32-S3 and a Raspberry Pi Pico run their pins at 3.3 V, and none of them is built to take 5 V. Pick 5V in the figure with one of them selected: it reads HIGH, the bumper works, and the pin is past its rating every time the robot touches something. That damage is slow and it does not announce itself, which is why the wiring is the rule rather than a suggestion.

Connect VCC to the board's 3V3 pin. The block works exactly the same from it. Only the red LED is dimmer.

5V beside an Uno

The Uno's pins run at 5 V, so its 5V pin is the right supply. 3V3 would work too, since the ATmega328P reads anything above 3.0 V as HIGH, but that leaves 0.3 V of margin to gain nothing.

Never the motor battery

On a robot there is usually a second, bigger supply for the motors. VCC does not go there, whatever its voltage: it goes to the same board that reads SIGNAL, from that board's own 3V3 or 5V pin. And the two boards, if there are two, share a GND.

VCC left off

With VCC unconnected, the switch has nothing to join SIGNAL to. Lever in or out, the pull-down holds SIGNAL at 0 V and your pin reads LOW forever. The red LED does not light either, which is the quickest way to tell this apart from a sketch problem.