If you haven't done so already, go to the root of the repository and npm install the dependencies.
To start, cd to this directory (examples/streaming) and run the following:
browserify src/index.js -o bundle.js
node server.js
(You will need browserify for this. If it isn't installed get it with npm install --global browserfiy)
See feross/simple-peer for additional examples on how to stream media.