According to the invention, there is provided a novel soybean variety designated XB16S06. This invention thus relates to the seeds of soybean variety XB16S06, to the plants of soybean XB16S06 to plant parts of soybean variety XB16S06 and to methods for producing a soybean plant produced by crossing plants of the soybean variety XB16S06 with another soybean plant, using XB16S06 as either the male or the female parent.