Set Routing Type component on the Einstein BOT can be used to invoke Salesforce Omni-Channel. The output from this should be used in the Transfer Dialog to transfer the session from Einstein BOT.

Salesforce Omni-Channel Flow:

Salesforce Einstein BOT Configuration to invoke Omni-Channel Flow:

Set Routing Type component is used to invoke the Salesforce Omni-Channel Flow. The Destination Variable holds the Id value.

Transfer component will do the actual transfer from the Einstein BOT.