From a clean working copy, run npm version major|minor|patch|VERSION. This will bump the package version, commit, tag, and push. The tag-push event triggers the release workflow on GitHub. The workflow creates a GitHub Release from the tag and publishes to npm.
It is preferred for these version commits and tags to be signed by git. This not only aids with provenance, but the act of signing the tag also ensures these release tags are annotated tags, not lightweight tags. First be sure git is configured for signing. Then either tell git to sign all tags with tag.gpgSign = true (recommended), or configure npm to sign its tags with sign-git-tag = true.