Unfortunately there doesn't seem to exist a standard builtin esxcli command to query the management controller IP.
But you can query the local CIM providers from the ESXi shell and get the IP like this:
# enum_instances OMC_IPMIIPProtocolEndpoint root/cimv2 | grep IPv4Address
IPv4Address = 10.2.1.17
What you can also do is querying the host's CIM information remotely, for example like this:
$ curl -sk https://myesxihost.local:5989/cimom --user root -X POST \
-H 'Content-type: application/xml; charset="utf-8"' \
-H 'CIMMethod: EnumerateInstances' \
-H 'CIMOperation: MethodCall' \
-H 'CIMProtocolVersion: 1.0' \
-H 'CIMObject: root/cimv2' \
--data '<?xml version="1.0" encoding="UTF-8"?>
<CIM CIMVERSION="2.0" DTDVERSION="2.0">
<MESSAGE ID="882670" PROTOCOLVERSION="1.0">
<SIMPLEREQ>
<IMETHODCALL NAME="EnumerateInstances">
<LOCALNAMESPACEPATH>
<NAMESPACE NAME="root"/>
<NAMESPACE NAME="cimv2"/>
</LOCALNAMESPACEPATH>
<IPARAMVALUE NAME="ClassName">
<CLASSNAME NAME="OMC_IPMIIPProtocolEndpoint"/>
</IPARAMVALUE>
</IMETHODCALL>
</SIMPLEREQ>
</MESSAGE>
</CIM>' | grep -A1 IPv4Address
Enter host password for user 'root':
<PROPERTY NAME="IPv4Address" TYPE="string">
<VALUE>10.2.1.17</VALUE>
These are generic CIM methods that should work with any standard IPMI device and do not require any special drivers/extensions by a hardware vendor.