Define domain for Lambda / API Gateway in serverless.yml, without addtl plugins

Serverless Framework
,
1

I’m used to pure Cloudformation templates, where I could configure a domain/ACM and attach it to a Lambda like so:

Parameters:
  DomainName:
    Type: String
Resources:
  DomainACM:
    Type: AWS::CertificateManager::Certificate
    Properties:
      DomainName: !Ref DomainName
      ValidationMethod: DNS
  Lambda:
    ...
  CloudFrontDistribution:
    ...cloudfront config, including domain and lambda ref...

In Serverless, I can easily create the domain in ACM and thus reference it elsewhere:

resources:
  Resources:
    domain:
      Type: AWS::CertificateManager::Certificate
      Properties:
        DomainName: ${env:DOMAIN}
        ValidationMethod: DNS

but how can I define the few properties on the Lambda function that I would need to in order to tie it all together? Adding another plugin (serverless-domain-manager) seems unnecessary, as the configuration is normally just a few YAML properties. Is there a way I can specify the API Gateway properties for my Lambda right in serverless.yml?