http://packages.vmware.com/tools/esx/5.5latest/repos/index.htmlFind the RHEL version and 32/64 bit RPM you need and grab the link, then install with YUM:
yum install http://packages.vmware.com/tools/esx/5.5latest/repos/vmware-tools-repo-RHEL6-9.4.11-1.el6.x86_64.rpmInstall the tools for non-graphical systems
yum install vmware-tools-esx-noxIt should show up pretty quickly within the client.