The basic config on the Cisco / Juniper / et al side would be your basic switchport / trunk commands you've
ever learned, including but not limited to :
switch#
switchport mode trunk
switchport permited vlans 1,3
switchport native vlan x dot1q x
...
At that point it'd be up to ESXi and how it configures the VLANs and what traffic traverses across which
VLAN, of which I don't claim any config or operational experience on ESXi that score.
My 00000010bits.
Regards