how to migrate old environment 5.5 to a new environment 6.5/6.7

we currently running one vCenter Server with 7 hostst on Version 5.5, about 90 VMs

I have now four new hosts and like to migrate to 6.7, means create new ESXi 6.7, one new vCenter Server 6.7

Storage is still the same...

Is there a whitepaper for the process?

can I configure the new hosts and vCenter Server into the old environment?

Thanks in advance

Martin