TS-Node-Boilerplate is a simple repository containing the files I usually end up with when creating a Typescript + Node.js project. It has compile-and-run features using ts-node and allows for live changes with nodemon. You're free to use this project under the terms of the GNU General Public License 3.0.
Simply edit the files in /src/, then launch a live compile session with npm start or compile and then run using tsc followed by a nodemon lib/index.js.