The most obvious answer would be to just make a row of infinitive Esperanto words, but I wonder if you can not introduce more explicit relations.
Here is an example from Consecutive infinitives on English Language & Usage Stack Exchange
The witness plans to refuse to testify.
That in a first approach could be translated as:
La spektanto planas rifuzi atesti.
But this seems rather unusual to me as Esperanto construction, and I'm not sure it's even grammatically acceptable. So I would probably go with something like:
La spektanto planas refuzadon de atestado.
The above link give example with more infinitive verbs in a row, like The witness refuses to consider to agree to testify to help to free, so I wonder how I would translate such a sentence. Could I use a simple row of infinitive verbs in Esperanto too?
 aŭ atestanto sed tio ne gravas por la nuna demando.