1] Install a minimal CentOS 6.0 64-bit setup. I used the text-based installer to give me a minimal installation(but does not provide for custom partitioning). The GUI can also be used to make a minimal installation, and can provide for custom partitioning.
2] Edit your /etc/sysconfig/network-scripts/ifcfg-eth0 (or the appropriate network interface for your device). Mine is setup like this in a VirtualBox VM that is set to the default NAT networking. Just substitute values when necessary.

DEVICE=eth0
HWADDR=08:00:27:0b:9a:f7
NM_CONTROLLED=no
ONBOOT="yes"
IPADDR=10.0.2.17
BOOTPROTO=none
NETMASK=255.255.255.0
GATEWAY=10.0.2.2
DNS1=10.0.6.10
DNS2=10.0.5.14
USERCTL=no
TYPE=Ethernet

3] Do a "chkconfig network on".
4] Do a "service network restart" as root.

If you want to get a DHCP lease instead of assigning static IPs...
Substitute this for step 2 above. Make your /etc/sysconfig/network-scripts/ifcfg-eth0 look like this:

DEVICE="eth0"
HWADDR=08:00:27:0b:9a:f7
NM_CONTROLLED="no"
ONBOOT="yes"
BOOTPROTO="dhcp"
USERCTL=no
TYPE=Ethernet

To disable IPv6...
1] Edit your /etc/sysconfig/network . Append these lines:

NETWORKING_IPV6=no
IPV6INIT=no

2] Add a new file /etc/modprobe.d/ipv6disable.conf containing

alias net-pf-10 off
alias ipv6 off

3] "chkconfig ip6tables off"
4] Reboot.

To use system-config-network-tui...
1] Do a "yum install system-config-network-tui" as root.
2] Do a "system-config-network-tui" as root. And setup your networking as you like. :)
3] Don't forget to do a "service network restart". :)

To use system-config-firewall-tui...
1] Do a "yum install system-config-firewall-tui" as root.
2] Do a "system-config-firewall-tui" as root. And setup your firewall as you like. :)
3] Don't forget to do a "service iptables restart", and "service ip6tables restart" if you have IPv6 enabled. :)