Make sure that you've activated TPM during installation, if not, use this command:
esxcli system settings encryption set --mode=TPM
Then continue as follow:
1. Activate
esxcli system settings encryption set --require-secure-boot=T
2. Check
esxcli system settings encryption get
Mode: TPM
Require Executables Only From Installed VIBs: false
Require Secure Boot: true
3. Backup the key:
esxcli system settings encryption recovery list