In VSCode, open the execute and debug panel (ctrl+maj+d or cmd+maj+d on macOS). Select "Run Extension" and click on play.
Package the extension
yarn run vsce package
This produces a .vsix package that you can install with VSCode. Note: this package is only compatible with your OS. If you want to distribute this, you must package one extension for each OS with the --target argument and use the appropriate server binary.