We present a general technique to obtain the zero temperature cumulant generating function of the full counting statistics of charge transfer in interacting impurity models out of equilibrium from time-dependent simulations on a lattice. We demonstrate the technique with application to the self-dual interacting resonant level model, where very good agreement between numerical simulations using the density matrix renormalization group and those obtained analytically from the thermodynamic Bethe ansatz is found. We show from the exact form of counting statistics that the quasiparticles involved in transport carry charge 2e in the low bias regime and e/2 in the high bias regime.