The policy grants the SNS topic the SendMessage permission for the five queues

QueuePolicy.yaml

  QueuePolicy:
    Type: AWS::SQS::QueuePolicy
    Properties:
      Queues:
        - !Ref ColorQueue
        - !Ref BlueYellowQueue
        - !Ref RedQueue
        - !Ref GreenHighQueue
        - !Ref GreenLowQueue
      PolicyDocument:
        Statement:
          - Effect: Allow
            Principal:
              Service: sns.amazonaws.com
            Action:
              - sqs:SendMessage
            Resource: "*"
            Condition:
              ArnEquals: 
                aws:SourceArn:
                  !Ref SNSTopic