From the vSphere Client of your VMware vCenter Server or its VCSA (vCenter Server Appliance) equivalent, you can manage your virtual machines and access their console.

1. Web console
2. VMRC console (VMware Remote Console)

1. Web console

The first console accessible natively from a simple modern web browser (such as Mozilla Firefox or Google Chrome) is the web console.
To access it, go to "Menu -> Hosts and Clusters", deploy the node corresponding to your VMware ESXi host (vSphere) and select the desired virtual machine (VM).
Next, click on the "Launch Web Console" link present below the console preview of the desired VM.

Select "Web Console" and click OK.

A new tab appears with your virtual machine screen.
Although this works, it is not the most convenient since it also resizes the guest OS screen.

In addition, one day you will probably press "ALT + F4" to close a program and accidentally close the web browser where this console is located.
You will be so focused on what you are doing in the virtual machine that you will no longer think that this shortcut will close the "host" web browser instead of closing the desired program in the virtual machine.
Which would not happen with the VMRC program (presented a little later).

2. VMRC console (VMware Remote Console)

The other option for accessing a virtual machine's console is to use the free VMware Remote Console (VMRC) program.
Once the program is downloaded and installed on your computer, click on the "Launch Remote Console" link.

If your web browser blocks popups from opening (as is the case with Mozilla Firefox), allow popups for this vSphere client.

Note that you can also find your virtual machines in "Menu -> VMs and Templates".

A new tab appears and asks you to choose an application to open the vmrc link.
Select "VMware Remote Console", check the box "Always use this application to open vmrc links" and click: Open Link.

Note that if VMware Workstation is installed on your computer, you can also use it to open vmrc links.
In this case, you will not need to also install VMware Remote Console.

If you are still using self-signed certificates, an "Invalid Security Certificate" warning will appear telling you "The host certificate chain is not complete".
Check the box "Always trust this host with this certificate" and click: Connect Anyway.

Wait a few seconds while VMware Remote Console connects to your virtual machine console.

The console of your virtual machine appears.