There is no specific out-of-the-box support for MS SQL Server Service Broker.
Having said that, there's no reason you can't:
1)Call ESB.NET web services from Service Broker
2)Have a listener (copy the WSMQ v.dir & change appropriate code) that pulls messages out of Service Broker Queues & processes them via ESB.NET (IIS hosted).
Let me know if you have any issues with this, or if you're after something different.
I don't think the ESB.NET inproc hosting model will work within SQL Server as it uses files for configuration & assembly loading.