Using Stimulus with Rails and Typescript

I understand that Stimulus was written in Typescript. I was doing research into writing Stimulus controllers in Typescript, instead of JS, and the only reference I could get, was to using it with Rails 5 and 6 with Webpacker, as follows:

bin/rails webpacker:install:typescript

and I would get the following response:

Webpacker now supports typescript 🎉

I am however using Rails 7, and I am not using webpacker.

How do I start using Typescript for Stimulus controllers in Rails 7?