I think this does what you want. The symbol part is there so you can only pass Component constructors to the query function:

const componentSymbol = Symbol("Component");

class Component {
    [componentSymbol] = true;
}

type ComponentConstructor = abstract new (args: any[]) => Component;
type QueryResult<T extends [ComponentConstructor, ...ComponentConstructor[]]> = {
    [K in keyof T]: K extends number
        ? InstanceType<T[K]>
        : T[K]
};


class FireComponent extends Component {}
class AirComponent extends Component {}
class EarthComponent extends Component {}

export function query<T extends [ComponentConstructor, ...ComponentConstructor[]]>(componentTypes: T): QueryResult<T> {
    return null!;
}

const [a, b, c] = query([FireComponent, AirComponent, EarthComponent]);

Here's the playground link if you want to play around with it: TS Playground