Thanks @BlenderDude!

const sql = require("pg-sql2");
// or import sql from 'pg-sql2';

const tableName = "user";
const fields = ["name", "age", "height"];

// sql.join is used to join fragments with a common separator, NOT to join tables!
const sqlFields = sql.join(
  // sql.identifier safely escapes arguments and joins them with dots
  fields.map(fieldName => sql.identifier(tableName, fieldName)),
  ", "
);

// sql.value will store the value and instead add a placeholder to the SQL
// statement, to ensure that no SQL injection can occur.
const sqlConditions = sql.query`created_at > NOW() - interval '3 years' and age > ${sql.value(
  22
)}`;

// This could be a full query, but we're going to embed it in another query safely
const innerQuery = sql.query`select ${sqlFields} from ${sql.identifier(
  tableName
)} where ${sqlConditions}`;

// Symbols are automatically assigned unique identifiers
const sqlAlias = sql.identifier(Symbol());

const query = sql.query`
with ${sqlAlias} as (${innerQuery})
select
  (select json_agg(row_to_json(${sqlAlias})) from ${sqlAlias}) as all_data,
  (select max(age) from ${sqlAlias}) as max_age
`;

// sql.compile compiles the query into an SQL statement and a list of values
const { text, values } = sql.compile(query);

console.log(text);
/* ->
with __local_0__ as (select "user"."name", "user"."age", "user"."height" from "user" where created_at > NOW() - interval '3 years' and age > $1)
select
  (select json_agg(row_to_json(__local_0__)) from __local_0__) as all_data,
  (select max(age) from __local_0__) as max_age
*/

console.log(values); // [22]

// Then to run the query using `pg` module, do something like:
// const { rows } = await pg.query(text, values);

sql.query`select ${1}`;

const arrayOfSqlFields = ["a", "b", "c", "d"].map(n => sql.identifier(n));
sql.query`select ${sql.join(arrayOfSqlFields, ", ")}`; // -> select "a", "b", "c", "d"

const arrayOfSqlConditions = [
  sql.query`a = 1`,
  sql.query`b = 2`,
  sql.query`c = 3`
];
sql.query`where (${sql.join(arrayOfSqlConditions, ") and (")})`; // -> where (a = 1) and (b = 2) and (c = 3)

const fragments = [
  { alias: "name", sqlFragment: sql.identifier("user", "name") },
  { alias: "age", sqlFragment: sql.identifier("user", "age") }
];
sql.query`
  json_build_object(
    ${sql.join(
      fragments.map(
        ({ sqlFragment, alias }) =>
          sql.query`${sql.literal(alias)}, ${sqlFragment}`
      ),
      ",\n"
    )}
  )`;

const arrayOfSqlInnerJoins = [
  sql.query`inner join bar on (bar.foo_id = foo.id)`,
  sql.query`inner join baz on (baz.bar_id = bar.id)`
];
sql.query`select * from foo ${sql.join(arrayOfSqlInnerJoins, " ")}`;
// select * from foo inner join bar on (bar.foo_id = foo.id) inner join baz on (baz.bar_id = bar.id)

const query = sql.query`...`;
const { text, values } = sql.compile(query);

// const { rows } = await pg.query(text, values);