Does this support non osx hardware like a windows machine?
You can install Clover on a USB plus your install media, boot off it and get to the installer. This should get you most of the way there.
I first needed a script like this one when I moved a couple of mac minis to ESXi so I could squeeze extra build VMs onto them. The easiest way to get an image onto ESXi without using a bootp server or something is an iso; it doesn't handle app bundles the way Fusion does.