OAuth doesn't, OIDC does for the ID token[0]. OAuth, at least the inital RFCs, were released 3 years before JWT was defined. But many extensions of OAuth do require or support JWTs.
Either way, I'm just not sure the demand is there.
My employer has had an open issue for Pasteo[1] for years but hasn't seen much community support. Some other interesting comments here[2]. Looks like most of the implementations[3] are libraries rather than standalone auth servers.
0: https://openid.net/specs/openid-connect-core-1_0.html#IDToke...
1: https://github.com/fusionAuth/fusionauth-issues/issues/773
2: https://www.reddit.com/r/KeyCloak/comments/1e2h5w7/is_paseto...