Microsoft Cluster Service (MSCS) support on ESXi/ESX (1004617) | VMware KB
Here is the overarching KB article for clustering support in VMware.
https://docs.vmware.com/en/VMware-vSphere/6.0/vsphere-esxi-vcenter-server-601-setup-mscs.pdf
Here is the guide specific to your version.
Hope this helps
Simon