Hello and welcome to the forums.
When you install ESX in graphical mode, you can specify the VLAN when choosing the NIC. If you don't get it right, you can use kb 1000258 to manually configure it afterwards.
Good Luck!
Brian Atkinson | vExpert | VMTN Moderator | Author of "VCP5-DCV VMware Certified Professional-Data Center Virtualization on vSphere 5.5 Study Guide: VCP-550" | @vmroyale | http://vmroyale.com