Step1:

Create yaml file for the jenkins helm chart as below.
jnlp.yaml:

agent:
  enabled: true
  image: "jenkins/jnlp-agent-docker"
  tag: "latest"
  runAsUser: 0
  runAsGroup: 0
  volumes: 
   - type: HostPath
     hostPath: /var/run/docker.sock
     mountPath: /var/run/docker.sock
   - type: HostPath
     hostPath: /usr/bin/docker
     mountPath: /usr/bin/docker