Another possibility is to use gulp-help-doc module, which provides possibility to print usage information based on jsDoc-like comments in a gulpfile. Currently it also supports TypeScript as well. The benefit is that you simply commenting your code without changing gulp API and you have usage info in command-line as well.
~ gulp --version
[03:00:05] CLI version 1.2.1
[03:00:05] Local version 4.0.0-alpha.2
~ gulp --help | grep 'tasks-simple'
--tasks-simple Print a plaintext list of tasks for the loaded gulpfile. [boolean]