I do not know about Jump Desktop (but I would guess starting by the name, that its purpose is different 😁), but iPadOS does not come with an integrated RDP or VNC server like all desktop OSes.
There are other solutions. On the same network: you can - depending the macOS and iPadOS version of your devices - use
switch control.
Otherwise there are apps which allow for remote screen sharing like Teamviewer, Splashtop SOS or Zoho Assist which e.g. use web-based connections.
AFAIK remote "desktop" control using e.g. Jump Desktop is only doable on jailbreaked iDevices.