We develop and test a computational framework to study heat exchange in interacting, nonequilibrium open quantum systems. Our iterative full counting statistics path integral (iFCSPI) approach extends a previously well-established influence functional path integral method, by going beyond reduced system dynamics to provide the cumulant generating function of heat exchange. The method is straightforward; we implement it for the nonequilibrium spin boson model to calculate transient and long-time observables, focusing on the steady-state heat current flowing through the system under a temperature difference. Results are compared to perturbative treatments and demonstrate good agreement in the appropriate limits. The challenge of converging nonequilibrium quantities, currents and high order cumulants, is discussed in detail. The iFCSPI, a numerically exact technique, naturally captures strong system-bath coupling and non-Markovian effects of the environment. As such, it is a promising tool for probing fundamental questions in quantum transport and quantum thermodynamics.arXiv:1812.03044v1 [cond-mat.stat-mech]