Hello There,
You can install from VC directly without ny special procedure its normal for all w.r.t to esxi host running. Just go to in Center Server, right-click a virtual machine, click Install/Upgrade VMware Tools.
There is no special procedure for any windows servers running on different roles.
If you want to supress reboot and install vmtools, just select "Advanced Upgrade" options and paste the below command:
/S /v"/qn REBOOT=R"