Run nodemon in the VSCode debugger

launch.json

{
  "version": "0.2.0",
  "configurations": [

    {
      "name": "Nodemon for Typescript",
      "type": "node",
      "request": "launch",
      "runtimeExecutable": "nodemon",
      "cwd": "${workspaceFolder}",
      "runtimeArgs": ["--exec", "node --inspect-brk=9229 --require ts-node/register src/server.ts"],
      "port": 9229,
      "internalConsoleOptions": "openOnSessionStart",
      "skipFiles": ["<node_internals>/**", "node_modules/**"],
      "restart": true
    },

    {
      "name": "Nodemon for Javascript",
      "type": "node",
      "request": "launch",
      "runtimeExecutable": "nodemon",
      "cwd": "${workspaceRoot}",
      "program": "${workspaceRoot}/src/server.js",
      "internalConsoleOptions": "openOnSessionStart",
      "skipFiles": ["<node_internals>/**", "node_modules/**"],
      "restart": true
    }

  ]
}

Note that it only works for servers (such as Express), it doesn't work for "run once and stop, then run again if the file changed" scripts.