The ICRC said it acted as a neutral intermediary in securing the release of the soldiers from a rebel group known as the Sudan Liberation Army-Ali Karbino.
"The Sudanese authorities and the SLA-AK asked us to facilitate the transfer and provide logistical support for this operation," said Jean-Christophe Sandoz, head of the ICRC delegation in Sudan, said in a statement.
The ICRC said it's been able to help with the release of five South Sudanese prisoners of war from Sudanese custody. More than 60 civilians and Sudanese military forces were released by armed opposition groups so far this year, the organization said.
Hyun-song, president of the International Criminal Court, said last week there were arrest warrants out against "four persons suspected of having committed very grave crimes" in Darfur situation.
Sudanese President Omar al-Bashir is among those wanted for atrocities allegedly committed in Darfur.