You can add one more calculated property on the Select-Object cmdlet.
Something like this
foreach($esx in Get-VMHost){ $vms = Get-VM -Location $esx
foreach($pg in (Get-VirtualPortGroup -VMHost $esx)){ $vms | where {$_.Guest.Nics | where {$_.NetworkName -eq $pg.Name}} | Select @{N="Host";E={$esx.Name}}, @{N="PG";E={$pg.Name}}, @{N="VLANid";E={$pg.VlanId}}, @{N="IP";E={[string]::Join(',',($_.Guest.Nics | where {$_.NetworkName -eq $pg.Name} | %{$_.IPAddress | %{$_}}))}}, @{N="VM";E={$_.Name}} } }