Connect serial cable to the host that needs the FreeBSD installation.
Use a tool like screen to connect to that host.
$ sudo screen /dev/ttyUSB0 115200
Start the host (e. g. connect power cable).
When FreeBSD boot menu appears, type 3 to enter loader prompt.
Set parameter and continue booting.
set comconsole_speed=115200
set console=comconsole
boot
Install FreeBSD as you like, but answer the last question before reboot (“The installation is now finished. Before exiting the installer, would you like to open a shell in the new system to make any final manual modifications?”) with yes.