After searching for a while online, I landed on the following (partly based on this answer):
import Foundation
extension FileHandle {
    func enableRawMode() -> termios {
        var raw = termios()
        tcgetattr(self.fileDescriptor, &raw)
        let original = raw
        raw.c_lflag &= ~UInt(ECHO | ICANON)
        tcsetattr(self.fileDescriptor, TCSADRAIN, &raw)
        return original
    }
    func restoreRawMode(originalTerm: termios) {
        var term = originalTerm
        tcsetattr(self.fileDescriptor, TCSADRAIN, &term)
    }
}
func getch() -> UInt8 {
    let handle = FileHandle.standardInput
    let term = handle.enableRawMode()
    defer { handle.restoreRawMode(originalTerm: term) }
    var byte: UInt8 = 0
    read(handle.fileDescriptor, &byte, 1)
    return byte
}
fputs("Press any key to continue... ", stdout)
fflush(stdout)
let x = getch()
print()
print("Got character: \(UnicodeScalar(x))")