Unless you have specific limitations or widhes, this sounds like standard requirement for SSO (Single Sign-On) implementation. OAuth is wide-spread standard in this area.
Ruby have implementations for this, see this repository for example
OAuth2 A Ruby wrapper for the OAuth 2.0 specification.
As for reading materials, you can check this article:
Single Sign On (SSO) for Multiple Applications with Devise, OmniAuth
and Custom OAuth2 Implementation in Rails
This tutorial may also help.
Then, you can implement OAuth in your node js server, and other services when needed.
Or detail your question and specific requirements or limits for other options. Meanwhile, you can check this SO question on other non-SSO options.