Hi Ryan,
if you are not looking for high availability of the MS, one management server with the following hardware configuration would be sufficient:
Operating System Windows Server 2012 R2
Operations Manager System Center 2012 R2 Operations Manager
Processor count 4 (vCPU)
Processor type a min of 2.66 GHz
Memory 8 GB
In regards to the DBs you can take different approaches:
1. Local DBs (only for POC) - In this case you will have to increase the hardware resources, so that your DBs have enough of them. I'll not recommend this approach even for PoC.
2. Make SQL cluster and place them on it. Although Microsoft does not recommend placing both DBs on the same cluster, for PoC this is OK.
3. Every DB on a sperate SLQ clsuster - This approach will not be that suitable for Poc as you have to dedicate lots of resource for the clusters.
DB sizing is done in a simple manner with the sizing tools. You just have to decide if you want APM or not and size them correctly.
Hope this helps. Regards,