How do you mean? I have a raised cliff with a gap in-between that I can jump to the cliff next to it if that's what you mean! But they are on the same level. You can't jump from a level three cliff, to a second level for example. That would need a ramp/ladder.
Yes you can jump from cliff to cliff if they are close together, similar to how you can jump over water that is 1-2 blocks wide. You can create "stepping stones" on water that you can jump on and do the same thing for cliffs