Start here. This is the direct spoken answer to practice first.
Why this question matters
Queue health is not just whether the worker process is running. A worker can be alive while the business is falling hours behind.
I would monitor queue depth, oldest message age, processing rate, failure rate, retry count, dead-letter count, and worker health. Depth alone can be misleading because a queue with many fast messages may be fine, while a few old high-priority messages may be bad. Oldest message age or consumer lag tells me whether the system is keeping up with real work.