Seems like it is possible using getlibs package:
<!-- index.html -->
<html>
<body>
<script src="https://unpkg.com/getlibs"></script>
<script>
System.import("./script.js");
</script>
</body>
</html>
// script.js
console.log(require('scrollmonitor'));
Working example: https://glitch.com/edit/#!/aromatic-flamingo
In the script above scrollmonitor is loaded from https://unpkg.com/ however this method works also with local files. I think that solves my problem fully.
Another solution seems to be Pika-Web:
A Future Without Webpack
@pika/web installs modern npm dependencies in a way that lets them run natively in the browser, even if they have dependencies themselves. That’s it. It’s not a build tool and it’s not a bundler (in the traditional sense, anyway). @pika/web is a dependency install-time tool that lets you dramatically reduce the need for other tooling and even skip Webpack or Parcel entirely.
It all comes down to a tradeoff between performance, caching efficiency, and how much complexity you feel comfortable with. And again, this is the entire point of @pika/web: Add a bundler because it makes sense to your situation, not because you have no other choice.
@pika/web checks your package.json manifest for any "dependencies" that export a valid ESM “module” entry point, and then installs them to a local web_modules/ directory. @pika/web works on any ESM package, even ones with ESM & Common.js internal dependencies.
https://www.pika.dev/blog/pika-web-a-future-without-webpack/
However, it works only with a valid ESM "module" entry point. Not the case with scrollMonitor.