Hi you will likely want to use rest channel from rasa documentation. Rest is universal so no problem using it with node.js.
You just need to realize that rasa runs on a separate server and also requires action server or even template server on separate servers. So you likely end up with three server architecture.
Depending on your needs you may end up using something more difficult with documented rasa http api or even needing to develop own channel. Rasa is quite powerful but I would say not simple if you want to do something outside of realm of a basic documented setup.