For instance, the Laplace Transform of $1$ is $\frac{1}{s}$, and when $s=1+i$ the transform is $\frac{1}{2}-\frac{i}{2}$, a complex number. What does the number represent?
Edit: Sorry, I mistyped! I should've titled this something like "What does the output of the Laplace transform mean?" instead of "how to interpret the S domain".
The best explanation I have heard -- and I'm not super familiar with Laplace transforms so there may be a better one out there -- is that the Laplace transform is sort of like a continuous power series. Here's what I mean by that:
Given a function $f(x)$, you can probably represent it as a power series: $$ f(x) = \sum_{t=0}^{\infty}{a_t x^t}$$ Normally we'd use $n$ as the limit of the summation, but I'm using $t$ here to make the connection more clear. Now as you know, sums and integrals are closely related (usually you define the integral as the limit of sums), and the idea here is very similar.
Recall the definition of the Laplace transform $F(s)$ of $f(t)$: $$ F(s) = \int_{0}^{\infty}{e^{-st}f(t)\ dt} $$
Write $e^{-st}$ as $(e^{-s})^t$ and consider the values of $f(t)$ as the coefficients of this continuous analog of a power series. Each term of the 'continuous summation' (that is, the integral) is: $f(t)(e^{-s})^t$ which looks a lot like $a_t x^t$ if you squint hard enough at it (and let $x=e^{-s}$).
Of course, this answer is only as good as your intuitive understanding of what's happening with power series, but it's better than nothing!