Take a look at the Serverless Framework. It's the best way I've found so far and will give you some extra benefits, like testing locally and being cross-provider. Serverless plays really well with any CI tool (we use Buddy and sls deploy to automate our workflow).
If you are just getting started and haven't setup much, take a look at Postlight’s serverless starter kit. It's a template packed with a reasonable setup that will get you started with ES6, linting, live reloading, Jest for testing and Prettier to make sure your code always is standardized before it gets to your repo.
Perfect combo to get your CI/CD flowing.