CloudBees' approach to Multi Factor Authentication (MFA) and to One Time Password (OTP) is to recommend Jenkins administrator to secure their Jenkins infrastructure with Single Sign On solution.
Organizations who want MFA or OTP usually implement it
either using an external service such as Google Auth or GitHub Auth
or as part of a corporate security project with the deployment of an enterprise authentication service usually coupled with an SSO platform
Notice that MFA is implemented outside of Jenkins and Jenkins' role is to integrate with such a service.