i can see vim-cmd on ESXi shell.
~ # vmware -lv
VMware ESXi 5.0.0 build-469512
VMware ESXi 5.0.0 GA
~ # vim-cmd -h
Usage: vim-cmd [options]... command [cmd_arg1] [cmd_arg2] ...
Options:
-h Display this help message and exit
-v Display version information and exit
-H <host> Host name to connect
-O <port> Port number to connect
-U <user> User name to use for login
-P <pass> Password to use for login
-d <level> Show verbose debug output. (info, verbose, trivia)
Use the help command to get information on the commands available.
vim-cmd help [command]
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Did you try with vma? vmware-cmd is available in vma 5.0.