VMware offers a wide range of management tools, with over lapping capabilities. ESXi v5 includes a pretty useful shell on the actual VM host. VMware also provides an appliance "vMA" that is setup with all the remote CLI tools.
vMA
The vMA appliance at MSU is msu-vma.msulocal. There is a non-privileged account for normal use. Can put ssh keys in it for easy access.
ESXi VM hosts
The ESXi hosts have ssh enabled, but only allow ssh_key access (just as done on most normal cluster servers). The keys for the root account are stored in /etc/ssh/keys-root/authorized_keys