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1.typescriptとgulp-typescriptをインストール
npm i -g typescript
npm i -D gulp-typescript

2.gulpfile.jsの設定例

var gulp = require("gulp");
var ts = require("gulp-typescript");

//ts
gulp.task("ts", function() {
  gulp
    .src("./ts/**/*.ts")
    .pipe(plumber())
    .pipe(ts({ noImplicitAny: true }))
    .pipe(gulp.dest("./js"));
});