This is still in beta with some small known issues. Read more here

Install via SSH/CLI: (Unfortunately, they have started adding version to the vib, so if they update, then this won't work, but I requested they have an html link for esxiui_signed_latest.vib, so well see if they do it!)

esxcli software vib install -v https://download3.vmware.com/software/vmw-tools/esxui/esxui-signed-4393350.vib

Uninstall via SSH/CLI:

esxcli software vib remove -n esx-ui

Check out how to Customize the HTML5 Client!