Fortunately this blog showed how to use memdisk and pxelinux to get the job done.
In short, you convert the /boot directory from the network install image and pass that to memdisk:
# cat /tftpboot/pxelinux.cfg/default
label linux
kernel bzimage
append initrd=initrd
label freebsd
kernel memdisk
append initrd=boot.hd harddisk
The only thing that tripped me up is that memdisk is a binary that must be copied over to your /tftpboot partition
# pwd
/tftpboot
# ls -al
total 84720
drwxr-xr-x 3 root wheel 512 Apr 13 04:17 .
drwxr-xr-x 16 root wheel 512 Apr 12 10:34 ..
-rwxr-xr-x 1 root wheel 33554432 Apr 13 03:31 boot.hd
-rwxr-xr-x 1 root wheel 3542048 Apr 12 04:18 bzimage
-rwxr-xr-x 1 root wheel 5919658 Apr 12 04:18 initrd
-rwxr-xr-x 1 root wheel 19132 Apr 13 03:48 memdisk
-r-xr-xr-x 1 root wheel 215040 Apr 12 10:26 pxeboot
-rwxr-xr-x 1 root wheel 13204 Apr 12 04:16 pxelinux.0
drwxr-xr-x 2 root wheel 512 Apr 12 04:30 pxelinux.cfg
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