SSH or Telnet to your ESXi node using root-level credentials, then enter the following commands to enable and configure SNMP.
For ESXi 5.5 :
esxcli system snmp set --communities YOUR_STRING esxcli system snmp set --enable true esxcli network firewall ruleset set --ruleset-id snmp --allowed-all true esxcli network firewall ruleset set --ruleset-id snmp --enabled true /etc/init.d/snmpd restart
For ESXi 6.x :
esxcli system snmp set -r esxcli system snmp set -c YOUR_STRING esxcli system snmp set -p 161 esxcli system snmp set -L "City, State, Country" esxcli system snmp set -C noc@example.com esxcli system snmp set -e yesNote Replace YOUR_STRING with your desired community string.