I directly followed this, but using Typescript and my own preferences + additions: article link
I already had S3 + Cloudfront setup before doing this so your setup might be a bit different. template-example.yml is very similar to the template I used, it only creates the Lambda services.
Do this (in this order) to create zip packages for the functions:
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create an .env file in the root with the variable BUCKET (your S3 image bucket)
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yarn build -
docker build --tag amazonlinux:nodejs . -
sudo ./build.sh
After this you should have zip files located under dist/packages which you will need to upload to your code bucket.