I'm not sure about this one (I've got different boards), but if it also is just emitting the RFID keyfob numbers in a RS-232 formatted serial way, you can just connect it to the RX (GPIO3) of the ESP (don't forget to include a level-shifter if needed) and read the data as is.
Of course you need to make the connection removable so you can (re-) flash the ESP as needed.
[EDIT]
As I understand, this board outputs Wiegand (so not only the serial of the fob in plain format) in the following format:
- Data Head = 0x02 (fixed byte)
- Length = 0x0A (total length of the packet is 10 bytes for 125kHz fobs)
- Card Type = 0x02 (EM4100 = 125kHz chips)
- Card Serial = SN0~SN4 (5 bytes)
- BCC Check = XOR Check (Except Data Head And Data End)
- Data End = 0x03 (fixed byte)