Create a Host Group ESX an put both ESX Servers in there.
Create One or two Pools and Volumes in there.
Present the Volumes to the ESX Group.
On the ESX Server configure Round Robin.
thats all
More Information here:
HP MSA 2040 Storage Configuration and Best Practices for VMware vSphere
http://h20195.www2.hp.com/V2/GetPDF.aspx%2F4AA4-7060ENW.pdf