There's actually not much you have to do on the ESXi side, other than creating a port group with the appropriate VLAN ID. Note that the VLAN ID must only be set for port groups which other than the physical switch's default/native VLAN.
Although you say that the physical setup is correct, please double check that the VLAN is known on the switch (e.g. show vlan), and that it is allowed on the physical ports to which the ESXi host is connected.
André