Hello,
The procedure is really straight forward.
1) Create new cluster under the same vCenter
2) configure vMotion network between hosts of both clusters.
3) Expecting the new cluster is made of same CPU vendor, but newer generation, you will migrate vCenter VM as any other VM.
Migrate both Compute and Storage at once.
4) Migrate all other VMs same way
5) Remove old hosts from the vCenter.
Thats It!!