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.

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.
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. :-).