The problem you have with ISCSI is the volume (zvol) is formatted in vmfs. So freenas isn't going to be able to mount and read it no matter what you try. So you basically have two options I think:
(1) snapshot the zvol and replicate (zfs send/receive) from freenasesxi to freenasbackup as mentioned above. The issues with this are (a) it's gonna send the entire zvol, not individual vm folders/files and (b) to copy back you will have to mount the replicated zvol on freenasbackup as a new datastore on your esxi hosts so you can get to the individual vm files. But of course that would violate your issue of wanting to not use esxi for doing the actual copying. (OR, I suppose copy back the entire zvol from freenasbackup to freenasexsi and remount the datastore on freenasesxi, but that seems like a total waste vs just mounting it from freenasbackup.)
(2) setup a new datastore on freenasbackup. from there you can copy (or move) selected vms from the esxi host command line (no storage vmotion requred, but you'll have to do it with vms powered off) from the datastore on freenasesxi to the datastore on freenasbackup. Since you said above, "we are looking to cut out the intermediate ESXi to do the transferring," then I guess this option is not palatable for you. So you are left with option 1.
I suppose another option is to switch to using NFS datastores, then you don't have the iscsi issues and you could use replication, scripting, or whatever you want from freenas to freenas because then Freenas could actually see the vm files.