Not that I know of. I mostly pieced the process together from disparate sources. Let me try to give you a brain-dump:
First, a point of note: one funny thing is that the VSphere ecosystem assumes, is that the ops people deploying VSphere use Windows. So the tooling around VSphere—even the unofficial community tooling—are Windows programs.
Besides the server computer I was setting up, I only have a MBP (with no Boot Camp partition), so, "step zero": I installed VMWare Fusion, and downloaded a Windows evaluation guest image from Microsoft.
The rest of this assumes you have Windows:
1. Install http://www.v-front.de/p/esxi-customizer-ps.html, and use it to generate an ESXi ISO customized for your machine. (Add network-card and storage drivers, essentially.)
The generated ISO doesn't "burn" onto a USB correctly using regular tools for some reason. The recommended Windows tool is called Rufus. I couldn't use that from a VM without a lot of hassle, but it turns out the ISO is essentially an ISO9660 export of what was a FAT filesystem, including UEFI boot files. So:
2. Extract the ISO onto a FAT-formatted USB stick. Plug it into the new machine, and pick the UEFI file in your BIOS boot manager. The installation proceeds a lot like an ncurses Linux install (e.g. Ubuntu Server.)
3. Once the machine is running, it shows a URL you can reach its web client interface at. For managing the hypervisor, this is mostly fine. (You can also enable SSH from this web console, and then SSH into the hypervisor.) For setting up new VMs, however, I found the [free] VSphere Client (https://kb.vmware.com/selfservice/microsites/search.do?langu...) a lot more powerful. Install that if you like. Again, though, it's Windows-only.
4. Create a macOS VM in VMWare Fusion. (It assists you in doing this; it just requires that you have a recovery partition on your Mac.)
5. Find the menu option in VMWare Fusion to "Connect to an ESXi server"; specify the IP the server console provides, and the admin user/password you provided during installation.
6. Go to the VM library window, right-click the macOS VM, and one of the options should be "Upload to an ESXi server". You can then pick one of your connected servers.
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One thing VMWare wants you to do, that you shouldn't do (for a home lab, at least), is to install their Platform Management Controller, "VSphere VCenter." (You might be tempted, because that's the only way to get their modern [horribly-janky] web-app interface that exposes all the VM configuration options like the Windows client does.) The VCenter VM appliance is ridiculously bulky: it takes ~16GB of RAM and two dedicated vCPUs just to run it. It's designed to consume one whole ESXi host node of a VSphere cluster, not to assist in the maintenance of a single-node ESXi setup.