How do I format a hdd with VMFS without having to read 100 documents?

I have a server I am learning to build I would like to put VMware ESXi 5.1 on it and I do not have the time to sit and read all the PDFs although I have been trying there seems to be no simple “just do this” cheat sheet type answer.

I have the tools that I have not looked at yet that I got separate and I have a strong suspicion that I have to use those on a separate computer to do it, I have not had the chance to look yet though.

I need to put VMFS onto a 200gb HDD so that I can install the servers OS on it, but it will not self format or detect the hdd. I know this to be because it is not formatted, how do I format it please someone.

Sorry for the n003 question but please enlighten me.