For builds and deploy we are using Jenkins, build and deploy taking long time at that time GCP token has expire. with that error JWT token issue

I'm not sure where you are getting the error, but simply have a condition in the catch block to check for the specific Error and then trigger the retry. Refer the following sample.

pipeline {
    agent any
    stages {
    stage("A"){
        steps{
            script {
                retry(count: 3) {
                        try {
                            // Running stuff here
                            error "JWT signature expired"    
                        } catch(e){
                            echo "${e.getMessage()}"
                            if(e.getMessage().contains("JWT signature expired")) {
                                // Lets retry, by throwing an error
                                echo "Retrying!!!!"
                                error "Just retry"
                            }
                            echo "Not retrying!!!!"
                        }
                    }
                }
            }
        }
    }
}