These instructions are for IPsec in transport mode not IPsec in tunnel mode. IPsec in tunnel mode requires a too tight coupling with the routing table for dynamic routing because the policies can only be specified based on source/destination address and protocol not based on interfaces.
The FreeBSD GENERIC kernel lacks support for in-kernel IPsec processing. Add this two lines to your kernel config and (re-)build your own kernel.
If you're new to FreeBSD check Chapters [15.9.1](http://www.freebsd.org/doc/handbook/ipsec.html) and [9](http://www.freebsd.org/doc/handbook/kernelconfig.html) of the FreeBSD handbook.