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Cisco has included similar functionality in the CIMC CLI, instructions below.
esx01# scope cimc esx01 /cimc # reboot This operation will reboot the CIMC. Continue?[y|N]y
The scope command above allows you to attach to a specific module, so in this instance we are attaching to the CIMC module.
Note: The two links below have quite a good bit of information on the CLI