Meanwhile Jackson registers the Joda module automatically when the JodaModule is in classpath. I just added jackson-datatype-joda to Maven and it worked instantly.
<dependency>
<groupId>com.fasterxml.jackson.datatype</groupId>
<artifactId>jackson-datatype-joda</artifactId>
<version>2.8.7</version>
</dependency>
JSON output:
{"created" : "2017-03-28T05:59:27.258Z"}