I've deployed kubernetes on aws as if it were bare metal. Try to run through https://github.com/kelseyhightower/kubernetes-the-hard-way translating what they do there to your particular setup(configure firewall, add routes to router, etc)
I'd suggest looking into kops (https://github.com/kubernetes/kops) for Kubernetes on AWS, whether you let it take the actions or you tweak/use the Terraform config it can generate