Yes this is relatively easy, but is there a reason you want to do this as opposed to boot-strapping vCenter onto a single-node to do this via vCenter?
(AKA the supported and proper way of doing this so as to have an SPBM-aware and other features fully-fledged cluster)
Here are the steps to do this via esxcli:
Configure vSAN network on all nodes:
# esxcli vsan network ip add -i <vmkX>
Enable vSAN on 1st node and create the cluster:
# esxcli vsan cluster new
List the cluster information:
# esxcli vsan cluster get
Get the Sub-Cluster UUID from above and join the other nodes:
# esxcli vsan cluster join -u <Sub-Cluster UUID>
Create Disk-Groups on all nodes
# esxcli vsan storage add -s <SSD NAA/mpx/t.10> -d <SSD/HDD NAA/mpx/t.10> -d <SSD/HDD NAA/mpx/t.10> -d ...
FYI for anyone thinking of copy+pasting the above into a pseudo-techie personal blog-post, always reference/credit sources and also realise that doing this way is not a great idea, doing it via vCenter is the supported method.