SSH into the VMware server

ssh root@vmwareserver

Set the auth and priv types

esxcli system snmp set -a MD5 -x AES128

Generate hashes

The hashes are needed to create the user.  Replace authpass and privhash to the password you want.

esxcli system snmp hash --auth-hash authpass --priv-hash privhash --raw-secret

Create user 

Replace authhash and privhash with the auth and priv hashes returned from the above command.

esxcli system snmp set -e yes -C contact@incredigeek.com -u snmpuser/authhash/privhash/priv

Single line Command

Change authpassword and privpassword to your authentication and private passwords.

authpass="authpassword" && privpass="privpassword" && esxcli system snmp set -a MD5 -x AES128 && esxcli system snmp hash --auth-hash ${authpass} --priv-hash ${privpass} --raw-secret && esxcli system snmp set -e yes -C ${contact} -u snmpuser/${authhash}/${privhash}/priv

View SNMP Configuration

esxcli system snmp get