quick answer is this:
sh "ls -l > commandResult"
result = readFile('commandResult').trim()
I think there exist a feature request to be able to get the result of sh step, but as far as I know, currently there is no other option.
EDIT: JENKINS-26133
EDIT2: Not quite sure since what version, but sh/bat steps now can return the std output, simply:
def output = sh returnStdout: true, script: 'ls -l'