The POST needs to be application/x-www-form-urlencoded like the example below.
POST /token HTTP/1.1
Host: server.example.com
Authorization: Basic czZCaGRSa3F0MzpnWDFmQmF0M2JW
Content-Type: application/x-www-form-urlencoded
grant_type=refresh_token&refresh_token=tGzv3JOkF0XG5Qx2TlKWIA