DC Jenkins server to AWS servers connection
Depending on your use-case, you should look either:


Establishing a persistent VPN connection to the AWS VPC using the Site-To-Site VPN as described here: https://docs.aws.amazon.com/vpn/latest/s2svpn/VPC_VPN.html 
Using an OpenVPN client via the build jobs using the client VPN service as  described here https://docs.aws.amazon.com/vpn/latest/clientvpn-admin/what-is.html