You can find all VMware Tools packages on

https://packages.vmware.com/tools/esx/index.html

They provide an .exe and .iso file for windows and package repositories for different linux distributions like RHEL, CentOS, SuSE or Ubuntu.

Here an example how to setup a package repository for ESXi 4.1 and CentOS5:

• create a repo file
  # touch /etc/yum.repos.d/vmware-tools.repo
• then open it
  # vim /etc/yum.repos.d/vmware-tools.repo
• and paste following text inside:
  [VMWare-tools]
  name=VMWare Tools Packages for Enterprise Linux 5 – $basearch
  baseurl=https://packages.vmware.com/tools/esx/4.1latest/rhel5/$basearch
  enabled=1
  gpgcheck=0
• save it and close the file.
• now you can install the vmware-tools (desktop) or vmware-tools-nox (server) package.
• after install reboot the computer

​replace inside the baseurl "4.1latest" with your esxi version and "rhel5" with your os version.