In vCenter, you do it with build-in clone+template functions, it´s very simple!
In ESXi, depending of your license features, you have this clone option available, or not.
If you don´t have any tools of cloning, simplest way is just a copy VM to another folder, perhaps in some config files change the name of the machine and add it to inventory. There you have a cloned VM manually :smileyhappy: