During AWS re:Invent this year AWS announced a new way to make HTTP APIs with API Gateway v2. It now includes things like native support for JSON Web Tokens (JWTs) and a vastly simplified number of AWS resources to get an API up and running. You can read about all the updates here in my post on the Serverless Blog.
Disclosure: While I have used the Serverless Framework for years, as of this posting I am employed by Serverless Inc. (the makers of the Serverless Framework).