Hey abugeja
Unfortunately there is not a way of doing this in an automated way or even easier from a UI. The procedure that lucasbernadsky proposed is the official one and the one you should follow.
If you have vSAN also in your environment please make sure that is not that easier to change the cerficates and in my point of view is not a "productive solution". I am saying this in case you have it or you are planning to have. Check on this KB for more information: VMware Knowledge Base