On ESXi environment is not necessary to install a specific agent to send log to SGBox. The syslog protocol will be used. Just type following instructions:

esxcli system syslog config set --loghost udp://SGBOXIP:514
esxcli network firewall ruleset set -r syslog -e true
esxcli system syslog reload

To view current configuration type:

esxcli system syslog config get

Be careful, instructions may be change base on version installed.
If SSH service is not enable you enable it by console.