Compile list of VMs on ESX servers

I have five VMWare ESX 3.x servers, but we do not have the Enterprise Virtual Center <yet>.  I need a method to quickly connect to each ESX server and retrieve the names of the VM servers on each ESX server.  Is there any way to script that or otherwise speed it up?  As for now, I either have to:

1> Open VC to each ESX and manually compile the names.

2> Open Veeam FastSCP, connect to each ESX and manually build a list.

3> Putty to each system, cd to the volumes directories and manually compile a list.

Any suggestions are definitely appreciated!