I'm not sure about a tutorial, however I'm sure someone in the community has a link to one.
Personally, I would vmotion VMs off of the 6.7 host(s) [one at a time if there are more than one], and upgrade that/those to 7.x if you have the licensing. Once all the hosts are at the same version, I would start building a cluster of two (without VMs) and then migrate VMs to those, and then add the 'empty' hosts to the cluster, and then use DRS to re-distribute the VMs accordingly.
Not an easy or fast process by any means, but that is how I would approach it.
Are the independent hosts all similar in chipset/memory/storage resources? Not a big deal if they are not, but that is also a consideration.
Besides taking advantage of cluster resource usage, is there another reason to undertake this reconfiguration?