When opening your WordPresswp-admin and activate the plugin, you will notice a new page on the left sidebar with the name of your plugin. This example is located in src/inc/view/menu/Page.php and initialized through Core.
Additionally it enqueues the following scripts in Assets:
Following, the TypeScript entrypoint from src/public/ts/admin.tsx is executed when visiting that page. Opening that menu page, some notices and a todo list is visible (under the scenes it uses a MobX store). Additionally the Hello World REST endpoint (src/inc/rest/HelloWorld.php) can be requested through a link. See also this.
Widget
In WordPress widgets section you should also notice a new widget "React Demo Widget". If a page contains the widget, the TypeScript coding from src/public/ts/widget.tsx is executed. It simply shows a "Hello World" ReactJS component.
All your REST API endpoints should be put into src/inc/rest. A Hello World endpoint is implemented in src/inc/rest/HelloWorld.php. It follows the standard WP REST API specification defined here.
So, if you request a GET (simply open in web browser) of localhost:{your-port}/wp-json/your-plugin/hello-world you will get a response. See also this.
The API endpoints does not automatically ensure a logged-in user because it relies not on the current logged in user. It is handled through the so-called _wpnonce. Read more about it here.