Perform these steps if the host is installed pre-vSAN 6.7:
If hosts installed version is already on vSAN 6.7 or later, no action is needed to upgrade to higher versions. As transparent failover is supported on vSAN 6.7 (supporting WSFC), no I/O interruptions when upgrading from vSAN 6.7 to later versions is expected.
For general ESXi upgrade guidance please see VMware ESXi Upgrade. For more instructions on configuring iSCSI as a service in your vSAN cluster see the Using the Virtual SAN iSCSI Target Service section in the Administering VMware vSAN guide.