'Create column from another dataframe with condition

I want to assign the labels in the df1 to df2 depending of df1['MinNum'] and df1['MaxMum']

df1
    Label                       MinNum  MaxNum
0   Rivière                     0       0
1   Sols minéraux bruts         1       2
2   Sols peu évolués lithiques  3       4

df2
    SOIL_ID 
0   0.0 
1   1.0
2   2.0 
4   4.0

The condition is:

if df1['MinNum'] <= df2['SOIL_ID'] <= df1['MaxNum'] assign df1['Label'] to new label column for df2

I want to have this

    SOIL_ID  label
0   0.0      Rivière                      
1   1.0      Sols minéraux bruts
2   2.0      Sols minéraux bruts
4   4.0      Sols peu évolués lithiques

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'Create column from another dataframe with condition

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