Windows agents can be launched using SSH or JNLP. Linux agents can only be launched using SSH.
For Windows agents, if you want to use SSH then the image needs to be custom-prepared with an SSH server preinstalled.

When using JNLP launch, ensure following
1) Jenkins URL (Manage Jenkins --> configure system --> Jenkins Location)
    This URL needs to be reachable by the agent, so make sure to configure the firewall rules accordingly.
2) TCP port for JNLP agent agents (Manage Jenkins --> configure global security --> Enable security --> TCP port for JNLP agents).

    This port needs to be reachable from the agent launched using JNLP. It is recommended to use a fixed port so that the necessary firewall exceptions can be specified.

    If the Jenkins master is running on Azure, then open an endpoint for "TCP port for JNLP agents" and add the necessary firewall rules (Run --> firewall.cpl) inside the virtual machine.