In order to create a Jenkins plugin, you will need to use Maven archetypes, which you can read about here (https://maven.apache.org/guides/introduction/introduction-to-archetypes.html).
We will issue the following command in order to generate a Jenkins Hello World plugin:
mvn archetype:generate -Dfilter=io.jenkins.archetypes:hello-world
Here is a sample running session that I did to create the plugin:
Notice here that I entered 1 for the archetype, then I chose a plugin version of 4, and defined a value of jenkins-helloworld-example-plugin, and then hit Enter for the default values: