Since the question was tagged with IPv6, I'll answer for that because IPv6 is very different from IPv4.
To begin with, there is no such thing as ARPv6, and ARP itself cannot be used, because it was made for 4-byte network layer addresses (i.e. IPv4).
This part is taken up by the Neighbor Discovery Protocol (NDP), which is sent over ICMPv6. Thus, you must not ignore ICMPv6 and filter it away, as is the custom with legacy IP. The NDP provides two message types that are of interest here: Neighbor Solicitation and Neighbor Advertisement. A node that wants to learn a link-layer address (note that while ARP is for IPv4->MAC, NDP can map IPv6 addresses to link-layer addresses of any type) for a particular IP address sends a Neighbor Solicitation to the according link-local solicited-node multicast address - there is no broadcast for IPv6 any more.
For example, if the address in question is
2001:db8::0011:2233:4455:6677, then the according solicited-node multicast address is
ff02::1:ff55:6677, and the according ethernet multicast address is
33:33:ff:55:66:77. All nodes with an address ending on
*55:6677 belong to that multicast group and will listen to that - this is most likely only the target system itself. The Neighbor Solicitation contains also the unicast IPv6 addresses and the MAC address of the soliciting system.
On receipt, the target node answers with its Neighbor Advertisement, which is sent to the unicast address (link layer and IPv6) of the soliciting node. Thus, the soliciting node learns the MAC-address of the target node.
And yes, NDP-spoofing works much like ARP-spoofing. And no, IPsec is not the answer.