Install an offline .zip package:

/tmp # ls
mpt3sas-09.00.00.00-1-2590995.zip  
/tmp # unzip /tmp/mpt3sas-09.00.00.00-1-2590995.zip
Archive:  /tmp/mpt3sas-09.00.00.00-1-2590995.zip
  inflating: mpt3sas-09.00.00.00-1-offline_bundle-2590995.zip
  inflating: scsi-mpt3sas-09.00.00.00-1OEM.550.0.0.1331820.x86_64.vib
  inflating: doc/README.txt
  inflating: source/driver_source_scsi-mpt3sas_09.00.00.00-1OEM.550.0.0.1331820.tgz
  inflating: doc/open_source_licenses_scsi-mpt3sas_09.00.00.00-1OEM.550.0.0.1331820.txt
  inflating: doc/release_note_scsi-mpt3sas_09.00.00.00-1OEM.550.0.0.1331820.txt
/tmp # ls
mpt3sas-09.00.00.00-1-2590995.zip
mpt3sas-09.00.00.00-1-offline_bundle-2590995.zip
source
doc
scsi-mpt3sas-09.00.00.00-1OEM.550.0.0.1331820.x86_64.vib
/tmp # esxcli software vib install -d /tmp/mpt3sas-09.00.00.00-1-offline_bundle-2590995.zip -f
Installation Result
   Message: The update completed successfully, but the system needs to be rebooted for the changes to be effective.
   Reboot Required: true
   VIBs Installed: Avago_bootbank_scsi-mpt3sas_09.00.00.00-1OEM.550.0.0.1331820
   VIBs Removed: 
   VIBs Skipped: 

List installed software:

# esxcli software vib list | grep mpt

List the installation acceptance level:

~ # esxcli software acceptance get
PartnerSupported

Change the installation security level (VMwareCertified, VMwareAccepted, PartnerSupported, CommunitySupported):

# esxcli software acceptance set --level=CommunitySupported

Check installed version:

~ # vmware -v
VMware ESXi 5.5.0 build-2403361
~ # vmware -l
VMware ESXi 5.5.0 Update 2

Check build / date version:

~ # esxcli software profile get
(Updated) ESXi-5.5.0-20150104001-standard
   Name: (Updated) ESXi-5.5.0-20150104001-standard
   Vendor: localhost.tech-it.lan
   Creation Time: 2015-06-01T17:24:37
   Modification Time: 2015-06-01T17:25:13
   Stateless Ready: False
   Description: 
      
      2015-06-01T17:24:37.412122+00:00: The following VIBs are
      installed:
        esx-base      5.5.0-2.62.2718055
        tools-light   5.5.0-2.62.2718055
        misc-drivers  5.5.0-2.62.2718055
        net-ixgbe     3.7.13.7.14iov-12vmw.550.2.62.2718055
      ----------
      2015-06-01T16:31:01.073952+00:00: The following VIBs are
      installed:
        lsi-mr3       6.607.08.00-1OEM.550.0.0.1391871
      WARNING: A --force install has been performed, the image may not
      be valid.
      ----------
      2015-06-01T16:19:53.337731+00:00: The following VIBs are
      installed:
        scsi-mpt3sas  09.00.00.00-1OEM.550.0.0.1331820
      WARNING: A --force install has been performed, the image may not
      be valid.
      ----------
      For more information, see http://kb.vmware.com/kb/2099271.

Check latest available ESXi version:

~ # esxcli software sources profile list -d http://hostupdate.vmware.com/software/VUM/PRODUCTION/main/vmw-depot-index.xml | grep "ESXi-5.5.0" | sort
ESXi-5.5.0-1331820-no-tools       VMware, Inc.  PartnerSupported
ESXi-5.5.0-1331820-standard       VMware, Inc.  PartnerSupported
ESXi-5.5.0-20131201001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20131201001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20131204001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20131204001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140301001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140301001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140302001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140302001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140401020s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140401020s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140404001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140404001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140604001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140604001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140701001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140701001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140704001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140704001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140901001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140901001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140902001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20140902001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141001001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141001001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141004001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141004001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141204001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20141204001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150101001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150101001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150104001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150104001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150204001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150204001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150402001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150402001-standard   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150501001s-no-tools  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150501001s-standard  VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150504001-no-tools   VMware, Inc.  PartnerSupported
ESXi-5.5.0-20150504001-standard   VMware, Inc.  PartnerSupported

Update to the latest patch:

~ # esxcli software profile update -d https://hostupdate.vmware.com/software/VUM/PRODUCTION/main/vmw-depot-index.xml -p ESXi-5.5.0-20150504001-standard
~ # reboot

NB: if required, open the firewall: esxcli network firewall ruleset set -e true -r httpClient

Check progress in the log file: /var/log/esxupdate.log