VirtualBox allows the creation of IPv6 networking prefixes on Host-Only adapters. It will statically assign an address to the interface, however it will not advertise the route. Meaning that guest VMs that are attached to the Host-Only network will not configure their IPv6 stacks automatically.
radvd (or rtadvd on *BSD) can be configured to advertise the IPv6 prefix that has been created in VirtualBox, however there is an issue in some operating systems, where the IPv6 stack cannot simultaneously be a host as well as a router (forward packets).