dependencies {

    implementation "org.glassfish.jersey.inject:jersey-hk2:3.0.2"
    implementation "org.glassfish.jersey.containers:jersey-container-jetty-http:3.0.2"
    implementation "jakarta.servlet:jakarta.servlet-api:5.0.0"

...
}

package com.company.test;

import org.eclipse.jetty.server.Server;
import org.glassfish.jersey.jetty.JettyHttpContainerFactory;
import org.glassfish.jersey.server.ResourceConfig;

import java.net.URI;

public class TestServer {

    public static void main(String args[]) {

        // scan packages
        final ResourceConfig config = new ResourceConfig().packages("com.company.test");

        // Start Jetty Server
        final Server server =
                JettyHttpContainerFactory.createServer(
                        URI.create("http://localhost:8080/"), config);
    }
}

package com.company.test;

import jakarta.ws.rs.GET;
import jakarta.ws.rs.Path;
import jakarta.ws.rs.Produces;
import jakarta.ws.rs.core.MediaType;

@Path("/hello")
public class TestResource {

    @GET
    @Produces(MediaType.TEXT_PLAIN)
    public String hello() {
        return "Jersey Jetty example.";
    }

}