No upgrade in the web-GUI yet; but the command is easy:
zpool upgrade <poolname>
If you also want to upgrade your filesystems:
zfs upgrade -r <poolname>
Keep in mind that you can't downgrade ZFS versions. Once you upgrade, you can never go back to stable V15 ZFS versions. You can also decide to upgrade to a specific version like 22, the same on stable Solaris 10/9 release. For that use the commands:
zpool upgrade -V 22 <poolname>
zfs upgrade -r -V 4 <poolname>
zpool upgrade <poolname>
If you also want to upgrade your filesystems:
zfs upgrade -r <poolname>
Keep in mind that you can't downgrade ZFS versions. Once you upgrade, you can never go back to stable V15 ZFS versions. You can also decide to upgrade to a specific version like 22, the same on stable Solaris 10/9 release. For that use the commands:
zpool upgrade -V 22 <poolname>
zfs upgrade -r -V 4 <poolname>