What you’re looking for is “transport mode” IPsec.

Dan Langille wrote this 14 years ago, it may still be accurate.
http://www.freebsddiary.org/ipsec.php <http://www.freebsddiary.org/ipsec.php>

This is a bit more recent (14 months ago), and should be easy to adapt to two 
FreeBSD hosts:
http://www.schmidp.com/2014/01/20/ipsec-between-freebsd-and-mac-osx/

Jim

> On May 6, 2015, at 1:10 AM, Mason Loring Bliss <ma...@blisses.org> wrote:
> 
> Hi there!
> 
> I'm trying to find a resource for learning how to go about setting up IPsec
> on an IPv4 LAN. The Handbook and just about every resources I can find on the
> 'net talks about using IPsec to tunnel to another site, but I just want my
> local boxes (or some subset of them) to encrypt traffic to each other.
> 
> My specific desire is to set up NFS between several local machines and have
> it use an encrypted transport. It seems that IPsec is the only game in town,
> and that it's very poorly documented, especially for use on a LAN as opposed
> to for setting up a VPN between sites. I'd love pointers.
> 
> Thank you!
> 
> -- 
> Mason Loring Bliss          ma...@blisses.org          Ewige Blumenkraft!
> awake ? sleep : random() & 2 ? dream : sleep; -- Hamlet, Act III, Scene I
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