How to compile Typescript library with its dependencies without webpack/rollup?

I'm new in Typescript and building Typescript library, but I got a problem:

1. I created a library say, @my-lib/my-first-lib.
2. I created another library say, @my-lib/my-second-lib which depends on @my-lib/my-first-lib.
3. I would like to use the @my-lib/my-second-lib in other project, say, my-project however, I got the following error message when I tried to compile:

Module not found: Error: Can't resolve '@my-lib/my-first-lib/lib-es2015' in '/Some/path/to/my-project/node_modules/@my-lib/my-second-lib/lib-es2015/file-name-using-first'

The tsconfig.json is as follow:

{
  "compilerOptions": {
    "allowSyntheticDefaultImports": true,
    "noImplicitAny": true,
    "module": "es2015",
    "target": "es2015",
    "lib": ["es2015", "dom"],
    "declaration": true,
    "outDir": "lib-es2015",
    "sourceMap": true,
    "strictNullChecks": true,
    "moduleResolution": "node",
    "resolveJsonModule": true,
    "skipLibCheck": true,
  },
  "files": ["src/index.ts"],
  "exclude": [
    "node_modules"
  ],
  "include": [
    "src/**/*"
  ]
}

All the libraries are compiled by following command:

tsc -p tsconfig.json

If I include @my-lib/my-first-lib as dependency in the package.json file of my-project it works fine. But I think this is not the answer, because I have to include thousand of the dependencies if @my-lib/my-second-lib has thousand of dependencies.

Please, somebody show me the way.