Will massaging or soaking my feet help to make the numbness go away in my toes caused by wearing high heels? possibly a pinched nerve.

Foot massage: Foot massage is extremely helpful for foot numbness because it increases circulation. Numbness is due to decreased circulation especially to nerves which alter sensation. It's not likely a pinched nerve per se but compression of all your foot structures. A soak and massage should be good....And laying off the high heels may be good too. :-).

They both may be : Helpful. But see a podiatrist to check if there is a neuroma or neuromas (entrapped/inflammed nerves) in the ball of the feet.