Sample Code:

Visualforce Page:

<apex:page controller="SampleVFController">
    <apex:form>
        <apex:commandButton value="Click" action="{!openLightningComponent}"/>
    </apex:form>
</apex:page>

Apex Class:

public class SampleVFController {
    
    public PageReference openLightningComponent() {
        
        PageReference pg = new PageReference( '/lightning/n/Sample_Aura' );
        pg.setRedirect( true );
        pg.getParameters().put( 'c__strInput', 'testing' );
        return pg;
        
    }

}

Aura Component:

<aura:component implements="force:appHostable,lightning:isUrlAddressable" >
    <aura:attribute name="strInput" type="String"/>
    <aura:handler name="init" value="{!this}" action="{!c.init}"/>
    <lightning:card>
        Value passed in the URL is {!v.strInput}
    </lightning:card>
</aura:component>

JavaScript Controller:

({
    
    init : function( component, event, helper ) {
        
        var pageRef = component.get( "v.pageReference" );
        var strInp = pageRef.state.c__strInput;
        component.set( "v.strInput", strInp );
        
    }
    
})

Tab for Aura Component:

Output: