what kind of project are you trying to build? If you try to import your code you'll hopefully find your project gets setup correctly.

basically Jenkins X uses build pods to run the pipelines which already have all the software tools required for pipelines (docker, skaffold, kubectl etc) inside the build pod which is defined as a docker image.

Try to reuse one of the existing build pods - e.g. using jenkins-maven as the build agent:

 pipeline {
  agent {
    label "jenkins-maven"
  }
  stages {
    stage('release') {
      steps {
        container('maven') {
          sh "docker build -t foo:bar ."
...

or you could try create a custom build pod.