Update (2022-05-02)
As mentioned in the comments and directly quoted from Google:
On May 30 2022, you may lose access to apps that are using less secure
sign-in technology
So the bottom code will probably stop working with Gmail. The solution is to enable 2-Step Verification and generate Application password, then you can use the generated password to send emails using nodemailer.To do so you need to do the following:
- Go to your Google account at https://myaccount.google.com/
 
- Go to Security
 
- In "Signing in to Google" section choose 2-Step Verification - here you have to verify yourself, in my case it was with phone number and a confirmation code send as text message. After that you will be able to enabled 2-Step Verification
 
- Back to Security in "Signing in to Google" section choose App passwords
 
- From the Select app drop down choose Other (Custom name) and put a name e.g. nodemailer
 
- A modal dialog will appear with the password. Get that password and use it in your code.
 
If there is still a problem, try clearing captcha by visiting https://accounts.google.com/DisplayUnlockCaptcha from your Google account.
Sample usege
const nodemailer = require('nodemailer');
const transporter = nodemailer.createTransport({
    service: 'gmail',
    auth: {
        user: 'YOUR-USERNAME',
        pass: 'THE-GENERATED-APP-PASSWORD'
    }
});
send();
async function send() {
    const result = await transporter.sendMail({
        from: 'YOUR-USERNAME',
        to: 'RECEIVERS',
        subject: 'Hello World',
        text: 'Hello World'
    });
    console.log(JSON.stringify(result, null, 4));
}
Old Answer (before 2022-05-02)
I think that first you need to Allow less secure apps to access account setting in your Google account - by default this settings is off and you simply turn it on. Also you need to make sure that 2 factor authentication for the account is disabled. You can check how to disable it here.
Then I use the following script to send emails from a gmail account, also tested with yahoo and hotmail accounts.
const nodemailer = require('nodemailer');
let transporter = nodemailer.createTransport({
    host: 'smtp.gmail.com',
    port: 587,
    secure: false,
    requireTLS: true,
    auth: {
        user: 'your.gmail.account@gmail.com',
        pass: 'your.password'
    }
});
let mailOptions = {
    from: 'your.gmail.account@gmail.com',
    to: 'receivers.email@domain.example',
    subject: 'Test',
    text: 'Hello World!'
};
transporter.sendMail(mailOptions, (error, info) => {
    if (error) {
        return console.log(error.message);
    }
    console.log('success');
});
If you put the previous code in send-email.js for example, open terminal and write:
node send-email
You should see in the console - success, if the email was send successfully or the error message returned by nodemailer
Don't forget to first do the setting - Allow less secure apps to access account.
I hope this code will be useful for you. Good Luck!