Take a look at the [CDK](https://aws.amazon.com/cdk/) if you haven't already. It lets you define your infrastructure using TypeScript, which then compiles to CloudFormation. You can easily mix infrastructure and Lambda code in the same project if all you're doing is writing some NodeJS glue Lambdas which sounds like what you're looking for.

There's a couple of sharp edges still but in general it just 'makes sense'. If you don't like TypeScript there are also bindings for Python and Java, among others, although TypeScript is really the preferred language.