you need the old and the new storage on a common machine and doing simple vMotion, at least supported with essentials plus
when you have no vcenter it's OFFLINE cut&paste in the ESXi interface at the storage
Are they in same vCenter Server or different vCenter server ?
If they are in same vCenter Server, take a clone of running VM, Migrate the clone to destination by right clicking on VM , shutdown the original VM. Power on the cloned VM on vSAN cluster see if you are able to successfully power it on. (You might see some incompatibility with network (in case of dvswitch) or VM hardware version). If all goes well you can use this method or can directly move the VM instead of clone.
If the destination hosts are in different vCenter you can use fling utility Cross vCenter Workload Migration Utility | VMware Flings
Yes You are right, you don't need to take a clone and it can be done live if pre-requisite are met, That was just for first try and that's where I wrote you can directly move instead of clone.
Cloning is way just to ensure you don't loose/troubleshoot your critical VM because of unforeseen issues. If something goes wrong it is too easy to just power on you original VM.
Welcome to the Community,
vCenter 6.7 only supports ESXi hosts with version 6.0, and later (see VMware Product Interoperability Matrices), so that you can't just migrate VMs from within vCenter Server.
In case the "old" VMs are stored on shared storage, you may want to check whether it is possible to - at least temporarily - attach one of the new hosts to the storage system.
Other options are to restore the VMs on the new environment from your backup, or migrate them using a 3rd party application.
As a third party product you can install "Veeam Backup & Replication 10 (free version)" and use the "Quick Migration" features.