I have a gulpfile.js that runs through perfectly when typing gulp into the commandline.
gulp
All the gulp bash command really does is calling the sp
Reiterating the answers above, but including the gulpfile location and a gulp command (in this case build. On Windows you can use the following:
build
node node_modules\gulp\bin\gulp.js build --gulpfile "C:\my_project_location\gulpfile.js"