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Have you heard of Heroku? They were YC's largest exit to date largely due to solving exactly that problem! It doesn't get any easier than Heroku.

Heroku's great, but the cheapest plan they have is $36 a month. There are shared hosts out there that cost $1.99.

Actually, their cheapest plan is $0 and it works great.

Isn't that just for prototyping/development?

That depends on your traffic. It includes one worker.