After several hours of trial and error attempting to get VNC running after a reboot at the login screen, I identified a recipe that works.

Obviously someone with more skill could certainly tweak this, however since I found very little information on getting this running (information that actually works), I figured I would post it.

This was tested on Kali2016.2

UPDATE
apt-get update

INSTALL XFCE4
apt-get install xfce4 xfce4-goodies gnome-icon-theme

Note: When asked which session manager to use, select LIGHTDM

CHANGE THE SESSION MANAGER
update-alternatives --config x-session-manager

NOTE: Select /usr/bin/startxfce4

INSTALL X11VNC
apt-get install x11vnc

SET PASSWORD
/usr/bin/x11vnc -storepasswd /etc/.vncpasswd

REBOOT
reboot

CONNECT VIA SSH AND LAUNCH X11VNC
/usr/bin/x11vnc -xkb -forever -rfbauth /etc/.vncpasswd -rfbport 8830 -bg -shared -noxdamage -auth guess

NOTE: I added a cron job that relaunches x11vnc after a reboot