I'm surprised no-one mentioned Nodal.
From the website:
Nodal is a web server for Node.js, optimized for building API services quickly and efficiently.
Boasting its own opinionated, explicit, idiomatic and highly-extensible framework, Nodal takes care of all of the hard decisions for you and your team. This allows you to focus on creating an effective product in a short timespan while minimizing technical debt
It's actively maintained, has 3800+ stars on Github (at the time of writing), has a command-line tool built-in to generate boilerplate code, and overall gets the job done quickly.
