I'm guessing you mean a physical hardware when you say you away from virtual setup.
The vCenter Appliance will work on ESXi server. Its built with OVF or OVA format which only ESXi will understand.
You have to download the installable file and install it on a Windows OS running on physical hardware if you want to put it there.
If you meant that you need to put it on another ESXi host to isolate the management machines, then its pretty straight forward. You will have to deploy it like you deploy any other Appliance.
this below KB will help you with the steps
VMware KB: Downloading and deploying the vCenter Server Appliance 5.x