You’ve probably already come across this documentation:
It provides a great foundation to help you get started. There’s also ongoing efforts to improve and streamline module deployment—specifically, a feature to enhance the SDK, allowing for module deployment along with its configured dependencies on an instance.
In the meantime, my personal workflow (similar to that in the above docs) has involved setting up a Reference Application or Platform instance, building the module, dropping the compiled .omod file into the instance’s modules folder, and then starting the instance.