AWS Lambda now supports SQS as an event source! This means you no longer have to use SNS and CloudWatch and lambda trigger scaling to consume messages from SQS when using Lambda.
With SQS having support for Lambda out-of-the-box you can now create full serverless functions with queues without scheduling requirements. Simply pushing all messages to SQS and setting max concurrency on your lambda function, will enable you to quickly process all queue items "on demand". And it does so fully automatically without a requirement for you to do any management.
I will put a primer of an existing use case online during this weekend. But if you already have an SNS based function, you will just need to do some queue management handling, but that is pretty much it.